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

Table 1

score comparison for different tested binary features on four datasets. Here the block size is set to .

Feature	UTBM-1	UTBM-2	KITTI 05	KITTI 06
LBP	0.5171	0.9058	0.7361	0.8261
D-LBP	0.7665	0.9441	0.7663	0.8639
CLBP	0.5111	0.9194	0.7437	0.8279
D-CLBP	0.6672	0.9221	0.7735	0.8813
CSLBP	0.6292	0.9337	0.7569	0.8461
D-CSLBP	0.8043	0.9457	0.7763	0.8850
CSLDP	0.6093	0.9474	0.7536	0.8335
D-CSLDP	0.8062	0.9490	0.7709	0.8709
XCSLBP	0.4796	0.8986	0.7107	0.7814
D-XCSLBP	0.7190	0.8350	0.7401	0.7775