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

Figure 14

Example of distance matrices for UTBM-1 dataset. Here, the distance matrix is normalized into 0-1 range. The distances of same or similar images are close to 0 (red color), while, for the larger distances, the corresponding color is close to yellow. In (a), two images from the same place are taken at different times (difference of two weeks). From Figure (b) to Figure (f), the distance matrix is plotted. The distance matrices show that multifeature combination (c) reduces the noise appeared around the diagonal (ground-truth line). Besides, compared with (d), after adding disparity information in (e), perceptual aliasing decreases, as confirmed by the precision-recall curves in Figure 13(a).