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

Table 1

Comparison of experimental results.

Method	Proposed	BoW	Proposed	BoW
The test set	Test set 1	Test set 1	Test set 2	Test set 2
FP when no threshold is set	6	2	7	28
TP	386	397	41	11
FP	3	1	3	16
FN	11	2	6	23
Precision	99.23%	100%	93.18%	40.74%
Recall	97.23%	99.25%	87.23%	32.35%