| First stage |  | Second stage |  |
---|---|---|---|---|
 |  | Experiment 1 | Experiment 2 | Experiment 3 |
Total no. of images | 399 | 118 | 80 | 26 |
Image resolution (pixels) | various | 2304x1728 | 2592x1944 | 2400x1800 |
No. of used images | 99 | 100 | 80 | 26 |
Recall | 0.25 | 0.85 | 1.00 | 1.00 |
No. of points recovered | 36,072 | 36,221 | 17,345 | 3,646 |
Computation time | 375 minutes | 330 minutes | 135 minutes | 13 minutes |