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Table 2 Performance of 3D point cloud reconstruction

From: High-precision vision-based mobile augmented reality system for context-aware architectural, engineering, construction and facility management (AEC/FM) applications

Data set System Number of registered images/ Elapsed time
   Number of base images  
Parking garage HD4AR with FREAK 125 / 143 36.73 mins (×17.25)
  HD4AR with SURF 138 / 143 42.01 mins (×15.08)
  Bundler package* 143 / 143 633.63 mins (×1)
Center for the arts HD4AR with FREAK 125 / 125 9.25 mins (×19.67)
  HD4AR with SURF 125 / 125 12.49 mins (×14.57)
  Bundler package* 125 / 125 181.95 mins (×1)
Norris hall HD4AR with FREAK 50 / 50 2.62 mins (×27.53)
  HD4AR with SURF 50 / 50 3.27 mins (×22.06)
  Bundler package* 50 / 50 72.13 mins (×1)
Patton hall HD4AR with FREAK 37 / 44 3.78 mins (×34.71)
  HD4AR with SURF 43 / 44 4.80 mins (×27.34)
  Bundler package* 44 / 44 131.22 mins (×1)
  1. *A widely-used software package for SfM (Snavely et al. 2007).