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