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
| Â | 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 |