Optimum Pipeline for Visual Terrain Classification Using Improved Bag of Visual Words and Fusion Methods

Figure 11

Comparison of different normalization methods on the DS1 dataset for SIFT and DSIFT descriptors. Intranormalization can be used only in difference-based encoding methods, and, hence, eight types of normalization methods are evaluated for difference-based encoding methods (left) and four types are evaluated for activation-based encoding methods (right). (a) SIFT (sparse descriptor); (b) DSIFT (dense descriptor).

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(b)