Research Article
Visual Localization by Place Recognition Based on Multifeature (D-λLBP++HOG)
Table 1
score comparison for different tested binary features on four datasets. Here the block size is set to
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| Feature | UTBM-1 | UTBM-2 | KITTI 05 | KITTI 06 |
| LBP | 0.5171 | 0.9058 | 0.7361 | 0.8261 | D-LBP | 0.7665 | 0.9441 | 0.7663 | 0.8639 | CLBP | 0.5111 | 0.9194 | 0.7437 | 0.8279 | D-CLBP | 0.6672 | 0.9221 | 0.7735 | 0.8813 | CSLBP | 0.6292 | 0.9337 | 0.7569 | 0.8461 | D-CSLBP | 0.8043 | 0.9457 | 0.7763 | 0.8850 | CSLDP | 0.6093 | 0.9474 | 0.7536 | 0.8335 | D-CSLDP | 0.8062 | 0.9490 | 0.7709 | 0.8709 | XCSLBP | 0.4796 | 0.8986 | 0.7107 | 0.7814 | D-XCSLBP | 0.7190 | 0.8350 | 0.7401 | 0.7775 |
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