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

Table 4

Recall results and average localization error at three precision levels (4096 hash bits).

Dataset	100% precision		99% precision		90% precision
	Recall (%)	Error (/m)	Recall (%)	Error (/m)	Recall (%)	Error (/m)
UTBM-1	23.81	2.08	89.62	2.34	95.00	3.53
UTBM-2	11.35	2.11	51.89	2.41	89.50	2.49
KITTI 05	17.38	3.50	61.59	13.08	65.92	13.08
KITTI 06	32.39	2.56	59.12	3.18	77.26	4.20