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

Figure 15

Visual localization results obtained by our system on four datasets. The trajectory of the vehicle is depicted with black lines; the loop closure zone is plotted by blue lines. Red points are correctly recognized locations at 100% precision by using our proposed approach. There are no false positives in any case. It is noted that the loop closure zone of datasets UTBM-1 and UTBM-2 is the whole trajectory, while the loop closure zone of KITTI 05 and KITTI 06 is only parts of the trajectory in blue.

(a) UTBM-1 dataset

(b) UTBM-2 dataset

(c) KITTI 05

(d) KITTI 06