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Table 11 Details of localization time from the proposed single indexed k-d tree approach

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

Number of models in the system 10 20 60 100 200
Target model searching time 0.482 sec 0.738 sec 1.222 sec 1.509 sec 1.799 sec
BRISK feature extraction time 0.570 sec 0.573 sec 0.571 sec 0.578 sec 0.566 sec
Matching/calibration time 0.308 sec 0.257 sec 0.261 sec 0.256 sec 0.258 sec