Research on key frame image processing of semantic SLAM based on deep learning
DENG Chen, LI Hongwei, ZHANG Bin, XU Zhibin, XIAO Zhiyuan
Acta Geodaetica et Cartographica Sinica . 2021, (11): 1605 -1616 .  DOI: 10.11947/j.AGCS.2021.20210251