Figure 9: (a) Example of an experiment using the data set 1 and the appearance-based method, using Fourier components for each row of the Fourier signature. (b) RMS error and step time versus the number of Fourier components for each row of the Fourier signature using the appearance-based method. (c) , and error for each step of the visual odometry estimation process using the appearance-based method and using Fourier components for each row of the Fourier signature.