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

Table 3

score and matching times comparison of different hash bit lengths for our approach and the state-of-the-art FAB-MAP method.

Method	score				Average time per matching (all datasets)
	UTBM-1	UTBM-2	KITTI 05	KITTI 06
256 hash bits	0.6571	0.8989	0.7425	0.8411	s
512 hash bits	0.8097	0.9409	0.7862	0.8786	s
1024 hash bits	0.8488	0.9562	0.7794	0.8936	s
2048 hash bits	0.8771	0.9532	0.7865	0.8973	s
4096 hash bits	0.8869	0.9537	0.7873	0.9006	s
Multifeature	0.9258	0.9110	0.9166	0.9203	s
FAB-MAP	0.2356	0.4813	0.7417	0.3519	s