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

Table 2

Number of images per area.

	Number of images (Area 1)	Number of images (Area 2)
Nodes	352	52
Route 1	110	100
Route 2	50	72
Route 3	67	66
Route 4	58	125
Route 5	62	—
Route 6	46	—
Route 7	69	—
Route 8	67	—
Route 9	40	—