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