Global Appearance Applied to Visual Map Building and Path Estimation Using Multiscale Analysis

Table 1

Image resolutions used in the experiments.

	Image’s pixels
Size 1	1817 × 1004
Size 2	512 × 283
Size 3	256 × 128
Size 4	128 × 64
Size 5	64 × 32
Size 6	32 × 16
Size 7	16 × 8