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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 ×)