A Study of Visual Descriptors for Outdoor Navigation Using Google Street View Images

Table 1

Average computational cost of the description algorithms studied, per test image. For each description method and data set, the table shows first the necessary time to obtain the test image descriptor and second the time to compare it with the descriptors of the map and to obtain the final localization result.

	2D Fourier	Fourier Signature	Gist	HOG	SURF-Harris
Data Set 1 Descriptor	0.0087 s	0.0080 s	0.4886 s	0.0608 s	0.5542 s
Data Set 1 Match	0.0015 s	0.0058 s	0.0006 s	0.0008 s	25.8085 s
Data Set 2 Descriptor	0.0085 s	0.0079 s	0.4828 s	0.0621 s	0.5389 s
Data Set 2 Match	0.0012 s	0.0047 s	0.0005 s	0.0006 s	19.3931 s