Table 3 Performance comparison of image-based localization approaches for the “patton” model

Localization

49/50

40/50

44/50

49/50

49/50

success-ratio

(98 %)

(80 %)

(88 %)

(98 %)

(98 %)

Mean number of

2145

134

228

438

748

2D-to-3D matches

Mean re-projection error

0.812 pixels

0.962 pixels

0.927 pixels

1.047 pixels

1.060 pixels

Mean localization time

2.312 sec

1.314 sec

1.484 sec

1.692 sec

1.836 sec

(sequential requests)

(1 ×)

(1.760 ×)

(1.558 ×)

(1.366 ×)

(1.259 ×)

Mean localization time

0.754 sec

0.477 sec

0.547 sec

0.583 sec

0.627 sec

(parallel requests) ^a

(1 ×)

(1.581 ×)

(1.378 ×)

(1.378 ×)

(1.203 ×)