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

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

Metrics Sensor-based Marker-based Visual SLAM Model-based
Localization accuracy 1.5 – 35 ma 0.5 – 2 mmb 0.5 – 20 mmc 0.5 – 20 mmc
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 ×
  1. aGPS Covered area; bMarkers within 3 m distance; cObjects within 10 m distance