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

Table 3

Comparison of the number of matching features before and after image enhancement.

Number	Original image	Enhanced image	Increased (%)
Image 1 and Image 2	14	72	414
Image 2 and Image 3	16	34	113
Image 3 and Image 4	22	86	290
Image 4 and Image 5	24	79	229
Image 5 and Image 6	26	119	358
Image 6 and Image 7	27	100	270
Image 7 and Image 8	22	85	286
Image 8 and Image 9	23	58	152
Image 9 and Image 10	25	88	252