A UAV Visual Relocalization Method Using Semantic Object Features Based on Internet of Things

Algorithm 1

Image similarity calculation.

(i)	Inputs: Semantic topological graphs of and to be matched, the path length of random walk: , the times of each node used as a starting node: count
(ii)	Output: Image similarity:
(1)	Construct the association graph:
(2)	for in do
(3)	for in do
(4)	if and have the same semantic labels, then
(5)	add to
(6)	end if
(7)	end for
(8)	end for
(9)	Initialize the weight matrix: , set the weights of conflicting matching pairs to zero, the weights of non-conflicting matched pairs are ,
(10)	Initialize the probability transition matrix:
(11)	for in nodes of do
(12)	Random Walk (, , , count)
(13)
(14)	end for
(15)	Get the best matching pairs
(16)