An Improved 3D Registration Method of Mobile Augmented Reality for Urban Built Environment

Table 2

Statistics of time consumption for image matching of each algorithm.

Time consumed (ms)	SUFREAK	SURF	FREAK	ORB
A to B	1,365	4,143	313	263
A to C	1,189	4,052	296	260
A to D	1,283	3,937	300	266
A to E	1,282	4,008	336	281
A to F	1,210	4,170	320	286
Average time consumed	1,266	4,062	313	271

Note: “A to B” refers to the image matching of photo A and photo B, and likewise for the others.