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Table 3 Performance of localization

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

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)
  1. *A widely-used software package for SfM (Snavely et al. 2007).
  2. **The result using our previous approach (Bae et al. 2012).