Table 5 Performance comparison of image-based localization approaches for the “knu” model

Localization

50/50

49/50

50/50

50/50

50/50

success-ratio

(100 %)

(98 %)

(100 %)

(100 %)

(100 %)

Mean number of

1204

87

157

338

561

2D-to-3D matches

Mean re-projection error

1.070 pixels

1.457 pixels

1.504 pixels

1.536 pixels

1.396 pixels

Mean localization time

1.347 sec

0.854 sec

0.959 sec

1.033 sec

1.138 sec

(sequential requests)

(1 ×)

(1.577 ×)

(1.405 ×)

(1.304 ×)

(1.184 ×)

Mean localization time

0.507 sec

0.386 sec

0.414 sec

0.440 sec

0.470 sec

(parallel requests)(a)

(1 ×)

(1.313 ×)

(1.225 ×)

(1.152 ×)

(1.079 ×)