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Table 10 Performance comparison of multi-model based localization

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

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