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Table 7 Performance comparison of image-based localization for “parliament” 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

40/40

37/40

37/40

40/40

40/40

success-ratio

(100 %)

(92.5 %)

(92.5 %)

(100 %)

(100 %)

Mean number of

465

104

178

337

442

2D-to-3D matches

     

Mean re-projection error

0.897 pixels

0.990 pixels

0.906 pixels

0.858 pixels

0.872 pixels

Mean localization time

2.693 sec

1.027 sec

1.134 sec

1.301 sec

1.377 sec

(sequential requests)

(1 ×)

(2.622 ×)

(2.375 ×)

(2.070 ×)

(1.956 ×)

Mean localization time

0.847 sec

0.345 sec

0.369 sec

0.415 sec

0.439 sec

(parallel requests)(a)

(1 ×)

(2.455 ×)

(2.295 ×)

(2.041 ×)

(1.929 ×)