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

Figure 12

Image retrieval performance (precision-recall curve) comparison considering D-CSLBP feature extracted with different image block sizes, on four datasets.

(a) UTBM-1 dataset

(b) UTBM-2 dataset

(c) KITTI 05

(d) KITTI 06