{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,18]],"date-time":"2026-01-18T01:26:52Z","timestamp":1768699612857,"version":"3.49.0"},"reference-count":54,"publisher":"MDPI AG","issue":"17","license":[{"start":{"date-parts":[[2021,9,5]],"date-time":"2021-09-05T00:00:00Z","timestamp":1630800000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["61871386"],"award-info":[{"award-number":["61871386"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Natural Science Fund for Distinguished Young Scholars of Hunan Province","award":["2019JJ20022"],"award-info":[{"award-number":["2019JJ20022"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Remote Sensing"],"abstract":"<jats:p>Loop closure detection is an important component of visual simultaneous localization and mapping (SLAM). However, most existing loop closure detection methods are vulnerable to complex environments and use limited information from images. As higher-level image information and multi-information fusion can improve the robustness of place recognition, a semantic\u2013visual\u2013geometric information-based loop closure detection algorithm (SVG-Loop) is proposed in this paper. In detail, to reduce the interference of dynamic features, a semantic bag-of-words model was firstly constructed by connecting visual features with semantic labels. Secondly, in order to improve detection robustness in different scenes, a semantic landmark vector model was designed by encoding the geometric relationship of the semantic graph. Finally, semantic, visual, and geometric information was integrated by fuse calculation of the two modules. Compared with art-of-the-state methods, experiments on the TUM RBG-D dataset, KITTI odometry dataset, and practical environment show that SVG-Loop has advantages in complex environments with varying light, changeable weather, and dynamic interference.<\/jats:p>","DOI":"10.3390\/rs13173520","type":"journal-article","created":{"date-parts":[[2021,9,6]],"date-time":"2021-09-06T13:18:26Z","timestamp":1630934306000},"page":"3520","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":23,"title":["SVG-Loop: Semantic\u2013Visual\u2013Geometric Information-Based Loop Closure Detection"],"prefix":"10.3390","volume":"13","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-6800-4073","authenticated-orcid":false,"given":"Zhian","family":"Yuan","sequence":"first","affiliation":[{"name":"College of Electronic Science, National University of Defense Technology, Changsha 410073, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ke","family":"Xu","sequence":"additional","affiliation":[{"name":"College of Electronic Science, National University of Defense Technology, Changsha 410073, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xiaoyu","family":"Zhou","sequence":"additional","affiliation":[{"name":"College of Electronic Science, National University of Defense Technology, Changsha 410073, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Bin","family":"Deng","sequence":"additional","affiliation":[{"name":"College of Electronic Science, National University of Defense Technology, Changsha 410073, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4752-3370","authenticated-orcid":false,"given":"Yanxin","family":"Ma","sequence":"additional","affiliation":[{"name":"College of Meteorology and Oceanography, National University of Defense Technology, Changsha 410073, China"},{"name":"Hunan Key Laboratory for Marine Detection Technology, Changsha 410073, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2021,9,5]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"56","DOI":"10.1177\/027836498600500404","article-title":"On the Representation and Estimation of Spatial Uncertainty","volume":"5","author":"Smith","year":"1986","journal-title":"Int. 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