Table 4 Details of localization time for sequential requests on “patton” model
Package | HD4AR | HD4AR with caching approach | |||
|---|---|---|---|---|---|
Cache size | - | 1000 | 2000 | 5000 | 10,000 |
BRISK feature extraction time | 0.785 sec | 0.785 sec | 0.785 sec | 0.785 sec | 0.785 sec |
Matching/localization time | 1.527 sec | 0.529 sec | 0.698 sec | 0.907 sec | 1.050 sec |
(performance gain) | (1 ×) | (2.887 ×) | (2.188 ×) | (1.684 ×) | (1.454 ×) |