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Its working principles, including the representation, extraction, description, and matching of lines, initialization, keyframe selection, optimization of tracking and mapping, and loop detection using a deep neural network, are set forth in detail. The overall trajectory estimation and loop detection performance is investigated using the TUM RGB\u2010D (indoor) benchmark and KITTI (outdoor) datasets. Compared with the conventional SLAMs, the experimental results of this study indicate that the proposed SLAM is able to improve the accuracy and robustness of trajectory estimation, especially for the scenes with insufficient points. As for loop detection, the deep neural network turns out to be superior to the traditional bag\u2010of\u2010words model, because it decreases the accumulated errors of both the estimated trajectory and reconstructed scenes.<\/jats:p><\/jats:sec>","DOI":"10.1002\/aisy.201900107","type":"journal-article","created":{"date-parts":[[2019,11,7]],"date-time":"2019-11-07T10:33:47Z","timestamp":1573122827000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":6,"title":["Deep Neural Network\u2013Based Loop Detection for Visual Simultaneous Localization and Mapping Featuring Both Points and Lines"],"prefix":"10.1002","volume":"2","author":[{"given":"Yang","family":"Li","sequence":"first","affiliation":[{"name":"Smart Display Lab Department of Electronic Engineering Shanghai Jiao Tong University  Shanghai 200240 China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4366-4304","authenticated-orcid":false,"given":"Chao Ping","family":"Chen","sequence":"additional","affiliation":[{"name":"Smart Display Lab Department of Electronic Engineering Shanghai Jiao Tong University  Shanghai 200240 China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Nizamuddin","family":"Maitlo","sequence":"additional","affiliation":[{"name":"Smart Display Lab Department of Electronic Engineering Shanghai Jiao Tong University  Shanghai 200240 China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Lantian","family":"Mi","sequence":"additional","affiliation":[{"name":"Smart Display Lab Department of Electronic Engineering Shanghai Jiao Tong University  Shanghai 200240 China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Wenbo","family":"Zhang","sequence":"additional","affiliation":[{"name":"Smart Display Lab Department of Electronic Engineering Shanghai Jiao Tong University  Shanghai 200240 China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jie","family":"Chen","sequence":"additional","affiliation":[{"name":"Smart Display Lab Department of Electronic Engineering Shanghai Jiao Tong University  Shanghai 200240 China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","published-online":{"date-parts":[[2019,12,13]]},"reference":[{"key":"e_1_2_9_2_1","volume-title":"Fundamentals of Wearable Computers and Augmented Reality","author":"Gay\u2010Bellile V.","year":"2016"},{"key":"e_1_2_9_3_1","unstructured":"H.Lategahn A.Geiger B.Kitt inProc. 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