Efficient ConvNet Feature Extraction with Multiple RoI Pooling for Landmark-Based Visual Localization of Autonomous Vehicles

Table 1

Main properties of four testing datasets used in our experiments. For a dataset with multiple subsets, two subsets with extreme changes are listed below and will be matched in our experiments. “No.” indicates the number of images in a subset. “—” means the change is negligible.

Dataset	Subset	No.	Main changes
			Illumination	Shadow	Season	Viewpoint
UACampus [35]	06:20; 22:15	649; 647	large	—	—	—
St. Lucia [36]	2009-09-10 08:45; 2009-09-11 15:45	1000; 1000	moderate	large	—	minor
Nordland [37]	Spring; winter	1000; 1000	large	—	large	—
Mapillary [38]	mploop1; mploop2	2028; 2028	moderate	—	—	large