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

Figure 13

Image retrieval performance (precision-recall curve) comparison of HOG, D-CSLBP, and D-CSLBP++HOG based approaches, on four datasets.

(a) UTBM-1 dataset

(b) UTBM-2 dataset

(c) KITTI 05

(d) KITTI 06