From: Matching-range-constrained real-time loop closure detection with CNNs features
 | Original pool5 | 128 bits | 256 bits | 512 bits | 1024 bits | 2048 bits |
---|---|---|---|---|---|---|
Feature compression | – | 0.1492 ms | 0.2822 ms | 0.5493 ms | 1.0913 ms | 2.1550 ms |
Match 1000 candidates | 21.3476Â s | 3.3334Â s | 3.4750Â s | 3.8738Â s | 4.5803Â s | 5.8495Â s |