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

Figure 5

Performance of different encoding methods with varying codebook sizes on the DS1 dataset for SIFT and DSIFT descriptors. (a) SIFT (sparse descriptor); (b) DSIFT (dense descriptor). The numbers in x-axis outside (inside) the parenthesis indicate the codebook size for activation (difference)-based coding methods.

(a)

(b)