Visual Localization of an Internal Inspection Robot for the Oil-Immersed Transformer

Table 2

Comparison results of feature extraction quantity.

Number	Original image			Enhanced image
Image 1		33	339
Image 2		32	334
Image 3		33	302
Image 4		32	305
Image 5		36	320
Image 6		35	323
Image 7		36	328
Image 8		32	340
Image 9		33	395
Image 10		33	345