Abstract：Multiple image features provide more discriminative information of the scenes compared with individual feature, and thus the performance of loop closure detection(LCD) is improved. However, a suitable combination criterion is vital. A weighting method of multiple feature combination is proposed. The accuracy of LCD of the feature combination is expressed as the Rényi divergence of the distance distributions of true matches and false matches in the feature space. The optimal feature combination maximizes the Rényi divergence. The relationship between the parameter of Rényi divergence and the performance of LCD of the optimal feature combination is analyzed and experimentally verified. The experiments show that the proposed method improves the performance of LCD significantly and the best performance is achieved with the parameter of Rényi divergence being from 0.75 to 1.
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2018, Vol. 31 
