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 ×) |