Fast and scalable structure-from-motion based localization for high-precision mobile augmented reality systems

mUX: The Journal of Mobile User Experience

Table 1 Qualitative comparison of localization techniques for mobile augmented reality systems

Metrics	Sensor-based	Marker-based	Visual SLAM	Model-based
Localization accuracy	1.5 – 35 m^a	0.5 – 2 mm^b	0.5 – 20 mm^c	0.5 – 20 mm^c
Localization speed	100 – 200 msec	20 – 140 msec	20 – 40 msec	5 – 240 sec
External infrastructure	GPS satellite	Optical markers	Not needed	Not needed
Resistant to drifts	×	√	×	√
Scale well to large scene	×	×	×	√
Supports mobility	√	√	√	×

^aGPS Covered area; ^bMarkers within 3 m distance; ^cObjects within 10 m distance