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

Table 2

Comparison of scores for different features and the state-of-the-art FAB-MAP method, on four datasets.

Dataset	score
	D-CSLBP	HOG	D-CSLBP++HOG	FAB-MAP
UTBM-1	0.8043	0.8752	0.8869	0.2356
UTBM-2	0.9299	0.9440	0.9532	0.4813
KITTI 05	0.7763	0.7782	0.7873	0.7417
KITTI 06	0.8850	0.8648	0.8973	0.3519