Using Omnidirectional Vision to Create a Model of the Environment: A Comparative Evaluation of Global-Appearance Descriptors

Table 1

Parameters to be tuned in each description method.

Descriptor	Parameters
FS	components per row, localization descriptor
	componentes per row, orientation descriptor
r-PCA	number of eigenvectors
	number of rotations per panoramic image
HOG	number of bins per histogram
	number of horizontal cells, localization descriptor
	width of vertical cells, orientation descriptor
	distance between vertical cells, orientation descriptor
	number vertical cells, orientation descriptor
Gist	number of orientations (Gabor filters), localization descriptor
	number of horizontal blocks, localization descriptor
	width of vertical blocks, orientation descriptor
	distance between vertical blocks, orientation descriptor
	number of vertical blocks, orientation descriptor