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

Table 2

Frequency distribution of relocalization distance error when illumination changes.

Relocalization method	Relocalization distance error (m)	Frequency	Proportion (%)
BoW	<0.1	21	42
	<0.3	43	86
Proposed	<0.1	6	12
	<0.3	20	40