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Table 4 Details of localization time for sequential requests on “patton” model

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

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 ×)