06-06-2023 дата публикации
Номер: CN116222577A
Принадлежит:
The invention relates to the technical field of data processing, and discloses a closed-loop detection method, a training method, a system, an electronic device and a storage medium, and the method comprises the steps: obtaining environment data, inputting the environment data into a multi-modal site representation network, and calculating the environment data through the multi-modal site representation network to obtain a first global site representation vector; adding the environment data and the first global location representation vector into a historical frame data sequence; calculating an Euclidean distance between the first global location representation vector and a second global location representation vector in the historical frame data sequence; and acquiring a minimum Euclidean distance from the calculated Euclidean distances, and judging whether a closed loop is found or not based on whether the minimum Euclidean distance is smaller than a distance threshold value or not. Through ...
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