Research Article

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

Figure 10

Example of gray-scale image and its corresponding local binary images (LBP, CLBP, CSLBP, CSLDP, and XCSLBP) and HOG feature.
(a) Original image
(b) Gray-scale image
(c) LBP image
(d) CLBP image
(e) CSLBP image
(f) CLDP image
(g) XCSLBP image
(h) HOG