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Table 6 Details of localization time for sequential requests on “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
BRISK feature extraction time 0.462 sec 0.462 sec 0.462 sec 0.462 sec 0.462 sec
Matching/localization time 0.886 sec 0.392 sec 0.497 sec 0.572 sec 0.677 sec
(performance gain) (1 ×) (2.260 ×) (1.783 ×) (1.549 ×) (1.309 ×)