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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