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

Table 4

Performance of the description methods: computational cost per image to build the model and best linear fit of the image distance versus the geometric distance.

Descriptor	Time		Best linear fit
	(ms)	(ms)			Parameters	Distance
FS						Weighted
r-PCA					,	Cityblock
HOG						Correlation
Gist						Correlation