Table 6 Details of localization time for sequential requests on “knu” model
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 ×) |