Table 10 Performance comparison of multi-model based localization
Number of models | 10 | 20 | 60 | 100 | 200 |
|---|---|---|---|---|---|
Localization | 235/235 | 235/235 | 235/235 | 235/235 | 235/235 |
Success-ratio | (100 %) | (100 %) | (100 %) | (100 %) | (100 %) |
Mean number of | 523 | 524 | 537 | 537 | 537 |
2D-to-3D matches | |||||
Mean re-projection error | 1.531 pixels | 1.532 pixels | 1.513 pixels | 1.511 pixels | 1.507 pixels |
Mean localization time | 1.360 sec | 1.568 sec | 2.054 sec | 2.343 sec | 2.623 sec |