{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,27]],"date-time":"2025-10-27T16:22:24Z","timestamp":1761582144606,"version":"build-2065373602"},"reference-count":28,"publisher":"MDPI AG","issue":"22","license":[{"start":{"date-parts":[[2021,11,16]],"date-time":"2021-11-16T00:00:00Z","timestamp":1637020800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"the Science and Technology Projects of Education Department of Jilin Province","award":["JJKH20191262KJ","JJKH20191258KJ"],"award-info":[{"award-number":["JJKH20191262KJ","JJKH20191258KJ"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>As visual simultaneous localization and mapping (vSLAM) is easy disturbed by the changes of camera viewpoint and scene appearance when building a globally consistent map, the robustness and real-time performance of key frame image selections cannot meet the requirements. To solve this problem, a real-time closed-loop detection method based on a dynamic Siamese networks is proposed in this paper. First, a dynamic Siamese network-based fast conversion learning model is constructed to handle the impact of external changes on key frame judgments, and an elementwise convergence strategy is adopted to ensure the accurate positioning of key frames in the closed-loop judgment process. Second, a joint training strategy is designed to ensure the model parameters can be learned offline in parallel from tagged video sequences, which can effectively improve the speed of closed-loop detection. Finally, the proposed method is applied experimentally to three typical closed-loop detection scenario datasets and the experimental results demonstrate the effectiveness and robustness of the proposed method under the interference of complex scenes.<\/jats:p>","DOI":"10.3390\/s21227612","type":"journal-article","created":{"date-parts":[[2021,11,17]],"date-time":"2021-11-17T09:16:11Z","timestamp":1637140571000},"page":"7612","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":5,"title":["Real-Time Closed-Loop Detection Method of vSLAM Based on a Dynamic Siamese Network"],"prefix":"10.3390","volume":"21","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-8426-1010","authenticated-orcid":false,"given":"Quande","family":"Yuan","sequence":"first","affiliation":[{"name":"School of Computer Technology and Engineering, Changchun Institute of Technology, Changchun 130012, China"},{"name":"National Local Joint Engineering Research Center for Smart Distribution, Grid Measurement and Control with Safety Operation Technology, Changchun Institute of Technology, Changchun 130012, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zhenming","family":"Zhang","sequence":"additional","affiliation":[{"name":"School of Electrical Engineering, Northeast Electric Power University, Jilin 132011, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yuzhen","family":"Pi","sequence":"additional","affiliation":[{"name":"National Local Joint Engineering Research Center for Smart Distribution, Grid Measurement and Control with Safety Operation Technology, Changchun Institute of Technology, Changchun 130012, China"},{"name":"School of Electrical Engineering and Information Technology, Changchun Institute of Technology, Changchun 130012, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9756-2805","authenticated-orcid":false,"given":"Lei","family":"Kou","sequence":"additional","affiliation":[{"name":"Institute of Oceanographic Instrumentation, Qilu University of Technology (Shandong Academy of Sciences), Qingdao 266075, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9254-3525","authenticated-orcid":false,"given":"Fangfang","family":"Zhang","sequence":"additional","affiliation":[{"name":"School of Electrical Engineering and Automation, Qilu University of Technology (Shandong Academy of Sciences), Jinan 250353, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2021,11,16]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"14207","DOI":"10.1007\/s10586-018-2271-3","article-title":"A navigation algorithm of the mobile robot in the indoor and dynamic environment based on the PF-SLAM algorithm","volume":"22","author":"Yan","year":"2019","journal-title":"Clust. 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