Offshore and inland river ship detection has been studied on both synthetic aperture radar (SAR) and optical remote sensing imagery. However, the classic ship detection methods based on SAR images can cause a high false alarm ratio and be influenced by the sea surface model, especially on inland rivers and in offshore areas. The classic detection methods based on optical images do not perform well on small and gathering ships. This paper adopts the idea of deep networks and presents a fast regional-based convolutional neural network (R-CNN) method to detect ships from high-resolution remote sensing imagery. First, we choose GaoFen-2 optical remote sensing images with a resolution of 1 m and preprocess the images with a support vector machine (SVM) to divide the large detection area into small regions of interest (ROI) that may contain ships. Then, we apply ship detection algorithms based on a region-based convolutional neural network (R-CNN) on ROI images. To improve the detection result of small and gathering ships, we adopt an effective target detection framework, Faster-RCNN, and improve the structure of its original convolutional neural network (CNN), VGG16, by using multiresolution convolutional features and performing ROI pooling on a larger feature map in a region proposal network (RPN). Finally, we compare the most effective classic ship detection method, the deformable part model (DPM), another two widely used target detection frameworks, the single shot multibox detector (SSD) and YOLOv2, the original VGG16-based Faster-RCNN, and our improved Faster-RCNN. Experimental results show that our improved Faster-RCNN method achieves a higher recall and accuracy for small ships and gathering ships. Therefore, it provides a very effective method for offshore and inland river ship detection based on high-resolution remote sensing imagery.

Reducing the cumulative error is a crucial task in simultaneous localization and mapping (SLAM). Usually, Loop Closure Detection (LCD) is exploited to accomplish this work for SLAM and robot navigation. With a fast and accurate loop detection, it can significantly improve global localization stability and reduce mapping errors. However, the LCD task based on point cloud still has some problems, such as over-reliance on high-resolution sensors, and poor detection efficiency and accuracy. Therefore, in this paper, we propose a novel and fast global LCD method using a low-cost 16 beam Lidar based on “Simplified Structure”. Firstly, we extract the “Simplified Structure” from the indoor point cloud, classify them into two levels, and manage the “Simplified Structure” hierarchically according to its structure salience. The “Simplified Structure” has simple feature geometry and can be exploited to capture the indoor stable structures. Secondly, we analyze the point cloud registration suitability with a pre-match, and present a hierarchical matching strategy with multiple geometric constraints in Euclidean Space to match two scans. Finally, we construct a multi-state loop evaluation model for a multi-level structure to determine whether the two candidate scans are a loop. In fact, our method also provides a transformation for point cloud registration with “Simplified Structure” when a loop is detected successfully. Experiments are carried out on three types of indoor environment. A 16 beam Lidar is used to collect data. The experimental results demonstrate that our method can detect global loop closures efficiently and accurately. The average global LCD precision, accuracy and negative are approximately 0.90, 0.96, and 0.97, respectively.