A UAV Visual Relocalization Method Using Semantic Object Features Based on Internet of Things

Figure 7

Relocalization error. (a) X-axis error of relocalization under constant lighting conditions. (b) Y-axis error of relocalization under constant lighting conditions. (c) Z-axis error of relocalization under constant lighting conditions. (d) X-axis error of relocalization under changing lighting conditions. (e) Y-axis error of relocalization under changing lighting conditions. (f) Z-axis error of relocalization under changing lighting conditions.

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