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Table 1 Architecture of the Places CNNs model and the dimension of the feature of each layer

From: Matching-range-constrained real-time loop closure detection with CNNs features

  Convolutional Fully connected
Layer CONV1 POOL1 CONV2 POOL2 CONV3 CONV4 CONV5 POOL5 FC6 FC7 FC8
Dimension 290,400 69,984 186,624 43,264 64,896 64,896 43,264 9216 4096 4096 1000
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