Table 3 Performance of localization
Data set | System | Localization success-ratio | Average localization time |
|---|---|---|---|
Parking garage | HD4AR with FREAK | 100% (50 / 50) | 5.42 sec (×19.94) |
HD4AR with SURF | 100% (50 / 50) | 6.42 sec (×16.84) | |
18.45 sec (×5.86)** | |||
Bundler package* | 100% (50 / 50) | 108.10 sec (×1) | |
Center for the arts | HD4AR with FREAK | 95.38% (62 / 65) | 3.17 sec (×29.40) |
HD4AR with SURF | 98.46% (64 / 65) | 3.47 sec (×26.86) | |
16.02 sec (×5.82)** | |||
Bundler package* | 100% (65 / 65) | 93.20 sec (×1) | |
Norris hall | HD4AR with FREAK | 100% (25 / 25) | 4.98 sec (×7.51) |
HD4AR with SURF | 100% (25 / 25) | 10.74 sec (×3.48) | |
13.31 sec (×2.81)** | |||
Bundler package* | 100% (25 / 25) | 37.38 sec (×1) | |
Patton hall | HD4AR with FREAK | 100% (25 / 25) | 6.33 sec (×5.10) |
HD4AR with SURF | 100% (25 / 25) | 10.07 sec (×3.20) | |
24.56 sec (×1.31)** | |||
Bundler package* | 100% (25 / 25) | 32.26 sec (×1) |