Using Omnidirectional Vision to Create a Model of the Environment: A Comparative Evaluation of Global-Appearance Descriptors

Table 3

Images set 2: rooms considered in the experiments and main parameters.

Room	Number of images	Grid	Size	Resolution
Laboratory	170	cm.	m	pixels
Corridor	200	cm.	m	pixels
Kitchen	108	cm.	m	pixels
Hall	242	cm.	m	pixels