Research Article
Visual Odometry through Appearance- and Feature-Based Method with Omnidirectional Images
Table 1
Relevant parameters of the image sets used in the experiments.
| Environment | Name | Number images | Image resolution | Distance traversed | Environment size |
| Laboratory 1 | Data set 1 | 858 | 720 × 720 pixels | 85.8 m | 1.8 × 1.7 m | Laboratory 2 | Data set 2 | 267 | 720 × 720 pixels | 26.7 m | 3.7 × 5.4 m | Corridor | Data set 3 | 416 | 720 × 720 pixels | 41.6 m | 1.4 × 7.1 m |
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