Visual Localization by Place Recognition Based on Multifeature (D-λLBP++HOG)

Figure 10

Example of gray-scale image and its corresponding local binary images (LBP, CLBP, CSLBP, CSLDP, and XCSLBP) and HOG feature.

(a) Original image

(b) Gray-scale image

(c) LBP image

(d) CLBP image

(e) CSLBP image

(f) CLDP image

(g) XCSLBP image

(h) HOG