Table 8 Details of localization time for sequential requests on “parliament” model
Package | HD4AR | HD4AR with caching approach | |||
|---|---|---|---|---|---|
Cache size | - | 1000 | 2000 | 5000 | 10,000 |
BRISK feature extraction time | 0.571 sec | 0.571 sec | 0.571 sec | 0.571 sec | 0.571 sec |
Matching/calibration time | 2.122 sec | 0.456 sec | 0.563 sec | 0.730 sec | 0.806 sec |
(performance gain) | (1 ×) | (4.654 ×) | (3.769 ×) | (2.907 ×) | (2.633 ×) |