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Table 2 Runtime comparison between original features and compressed features

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 21.3476 s 3.3334 s 3.4750 s 3.8738 s 4.5803 s 5.8495 s
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