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Detector + Descriptor - Mean Difference, Mean TTC Differences from Least to Greatest

Detector + Descriptor Mean Difference
SIFT + BRISK 0.86
AKAZE + ORB 1.02
AKAZE + FREAK 1.05
SIFT + FREAK 1.07
AKAZE + BRIEF 1.09
AKAZE + AKAZE 1.10
SIFT + BRIEF 1.15
AKAZE + BRISK 1.18
FAST + BRIEF 1.29
FAST + ORB 1.43
SHITOMASI + BRISK 1.47
FAST + FREAK 1.48
HARRIS + FREAK 1.59
SHITOMASI + ORB 1.59
FAST + BRISK 1.63
HARRIS + BRIEF 1.72
HARRIS + ORB 1.76
SHITOMASI + FREAK 1.81
HARRIS + BRISK 2.15
SHITOMASI + BRIEF 2.22
BRISK + ORB 2.57
BRISK + BRIEF 2.79
BRISK + FREAK 2.98
BRISK + BRISK 3.28
ORB + BRISK 5.67
ORB + FREAK 9.08
ORB + ORB 11.99
ORB + BRIEF 22.93

Here in this table we can see that if we choose AKAZE as the detector we get the best results in terms of mean difference of TTC estimations. It doesn't matter that much whether we choose BRIEF, FREAK or ORB as the extractor. Even with the BRISK, there is a slight difference like 0.03.

On the other hand, choosing ORB as the detector seems to be the worst scenario as it gets the greatest mean difference with every extractor.

With the new outlier filtering & keypoint removal the performance of AKAZE still seems to be the best when using various descriptors. We can observe slightly better results with the AKAZE going down to 0.09 and 0.06 from 1.11.

But now, with the improvements, using SIFT as the detector with BRISK seems to be the best solution with 0.86 mean difference. Choosing ORB as the detector still seems to be the worst option.

Detector + Descriptor - TTC Estimations Each Frame

Detector + Descriptor Frame Lidar TTC Camera TTC TTC Difference
SHITOMASI + BRISK 1 12.51 13.90 1.39
SHITOMASI + BRISK 2 12.41 12.99 0.57
SHITOMASI + BRISK 3 14.09 13.25 0.84
SHITOMASI + BRISK 4 16.69 12.87 3.82
SHITOMASI + BRISK 5 15.58 13.45 2.14
SHITOMASI + BRISK 6 12.89 13.53 0.64
SHITOMASI + BRISK 7 11.98 12.72 0.74
SHITOMASI + BRISK 8 13.12 13.71 0.59
SHITOMASI + BRISK 9 13.25 11.51 1.74
SHITOMASI + BRISK 10 11.17 13.46 2.28
SHITOMASI + BRISK 11 12.38 11.98 0.40
SHITOMASI + BRISK 12 9.18 11.81 2.63
SHITOMASI + BRISK 13 9.96 12.04 2.07
SHITOMASI + BRISK 14 9.47 11.34 1.87
SHITOMASI + BRISK 15 8.68 9.05 0.38
SHITOMASI + BRISK 16 9.51 10.46 0.95
SHITOMASI + BRISK 17 9.68 11.68 2.00
SHITOMASI + BRISK 18 8.40 9.74 1.34
SHITOMASI + BRIEF 1 12.51 14.07 1.56
SHITOMASI + BRIEF 2 12.41 13.81 1.40
SHITOMASI + BRIEF 3 14.09 11.71 2.38
SHITOMASI + BRIEF 4 16.69 13.60 3.08
SHITOMASI + BRIEF 5 15.58 12.30 3.28
SHITOMASI + BRIEF 6 12.89 13.27 0.38
SHITOMASI + BRIEF 7 11.98 21.33 9.35
SHITOMASI + BRIEF 8 13.12 12.52 0.60
SHITOMASI + BRIEF 9 13.25 11.61 1.64
SHITOMASI + BRIEF 10 11.17 13.67 2.50
SHITOMASI + BRIEF 11 12.38 11.78 0.60
SHITOMASI + BRIEF 12 9.18 11.76 2.58
SHITOMASI + BRIEF 13 9.96 11.75 1.79
SHITOMASI + BRIEF 14 9.47 11.65 2.18
SHITOMASI + BRIEF 15 8.68 11.30 2.62
SHITOMASI + BRIEF 16 9.51 11.52 2.00
SHITOMASI + BRIEF 17 9.68 11.19 1.51
SHITOMASI + BRIEF 18 8.40 7.96 0.44
SHITOMASI + ORB 1 12.51 13.50 0.99
SHITOMASI + ORB 2 12.41 12.67 0.26
SHITOMASI + ORB 3 14.09 11.99 2.10
SHITOMASI + ORB 4 16.69 12.54 4.14
SHITOMASI + ORB 5 15.58 12.19 3.40
SHITOMASI + ORB 6 12.89 13.74 0.85
SHITOMASI + ORB 7 11.98 11.97 0.01
SHITOMASI + ORB 8 13.12 12.51 0.61
SHITOMASI + ORB 9 13.25 11.34 1.91
SHITOMASI + ORB 10 11.17 13.31 2.14
SHITOMASI + ORB 11 12.38 11.32 1.05
SHITOMASI + ORB 12 9.18 11.54 2.35
SHITOMASI + ORB 13 9.96 12.31 2.34
SHITOMASI + ORB 14 9.47 11.34 1.87
SHITOMASI + ORB 15 8.68 10.46 1.78
SHITOMASI + ORB 16 9.51 10.87 1.36
SHITOMASI + ORB 17 9.68 10.73 1.05
SHITOMASI + ORB 18 8.40 8.06 0.34
SHITOMASI + FREAK 1 12.51 13.65 1.13
SHITOMASI + FREAK 2 12.41 13.57 1.16
SHITOMASI + FREAK 3 14.09 11.08 3.01
SHITOMASI + FREAK 4 16.69 12.92 3.76
SHITOMASI + FREAK 5 15.58 12.85 2.73
SHITOMASI + FREAK 6 12.89 15.15 2.27
SHITOMASI + FREAK 7 11.98 13.18 1.20
SHITOMASI + FREAK 8 13.12 13.20 0.08
SHITOMASI + FREAK 9 13.25 11.90 1.35
SHITOMASI + FREAK 10 11.17 13.53 2.36
SHITOMASI + FREAK 11 12.38 11.33 1.05
SHITOMASI + FREAK 12 9.18 12.06 2.88
SHITOMASI + FREAK 13 9.96 12.56 2.60
SHITOMASI + FREAK 14 9.47 11.70 2.23
SHITOMASI + FREAK 15 8.68 10.23 1.55
SHITOMASI + FREAK 16 9.51 11.45 1.94
SHITOMASI + FREAK 17 9.68 10.87 1.20
SHITOMASI + FREAK 18 8.40 8.25 0.15
HARRIS + BRISK 1 12.51 12.35 0.16
HARRIS + BRISK 2 12.41 11.59 0.83
HARRIS + BRISK 3 14.09 14.07 0.02
HARRIS + BRISK 4 16.69 14.85 1.83
HARRIS + BRISK 5 15.58 12.97 2.61
HARRIS + BRISK 6 12.89 12.66 0.22
HARRIS + BRISK 7 11.98 13.18 1.20
HARRIS + BRISK 8 13.12 24.37 11.25
HARRIS + BRISK 9 13.25 12.60 0.65
HARRIS + BRISK 10 11.17 13.33 2.15
HARRIS + BRISK 11 12.38 12.68 0.31
HARRIS + BRISK 12 9.18 13.33 4.15
HARRIS + BRISK 13 9.96 12.04 2.08
HARRIS + BRISK 14 9.47 13.11 3.64
HARRIS + BRISK 15 8.68 9.22 0.54
HARRIS + BRISK 16 9.51 11.69 2.17
HARRIS + BRISK 17 9.68 9.82 0.14
HARRIS + BRISK 18 8.40 13.10 4.70
HARRIS + BRIEF 1 12.51 12.67 0.15
HARRIS + BRIEF 2 12.41 11.31 1.11
HARRIS + BRIEF 3 14.09 12.98 1.11
HARRIS + BRIEF 4 16.69 13.59 3.09
HARRIS + BRIEF 5 15.58 12.63 2.95
HARRIS + BRIEF 6 12.89 12.85 0.04
HARRIS + BRIEF 7 11.98 13.55 1.57
HARRIS + BRIEF 8 13.12 13.83 0.71
HARRIS + BRIEF 9 13.25 12.00 1.25
HARRIS + BRIEF 10 11.17 13.39 2.22
HARRIS + BRIEF 11 12.38 12.89 0.51
HARRIS + BRIEF 12 9.18 11.78 2.60
HARRIS + BRIEF 13 9.96 12.04 2.08
HARRIS + BRIEF 14 9.47 12.29 2.82
HARRIS + BRIEF 15 8.68 10.26 1.59
HARRIS + BRIEF 16 9.51 11.03 1.51
HARRIS + BRIEF 17 9.68 10.85 1.17
HARRIS + BRIEF 18 8.40 12.94 4.54
HARRIS + ORB 1 12.51 12.67 0.15
HARRIS + ORB 2 12.41 11.91 0.51
HARRIS + ORB 3 14.09 19.32 5.23
HARRIS + ORB 4 16.69 14.85 1.83
HARRIS + ORB 5 15.58 12.59 2.99
HARRIS + ORB 6 12.89 12.40 0.49
HARRIS + ORB 7 11.98 13.84 1.86
HARRIS + ORB 8 13.12 13.03 0.10
HARRIS + ORB 9 13.25 12.20 1.05
HARRIS + ORB 10 11.17 13.01 1.84
HARRIS + ORB 11 12.38 12.71 0.33
HARRIS + ORB 12 9.18 11.29 2.11
HARRIS + ORB 13 9.96 11.72 1.75
HARRIS + ORB 14 9.47 12.02 2.55
HARRIS + ORB 15 8.68 9.94 1.27
HARRIS + ORB 16 9.51 11.58 2.07
HARRIS + ORB 17 9.68 10.85 1.17
HARRIS + ORB 18 8.40 12.83 4.44
HARRIS + FREAK 1 12.51 13.32 0.80
HARRIS + FREAK 2 12.41 12.00 0.41
HARRIS + FREAK 3 14.09 13.96 0.13
HARRIS + FREAK 4 16.69 13.89 2.80
HARRIS + FREAK 5 15.58 11.18 4.41
HARRIS + FREAK 6 12.89 12.85 0.03
HARRIS + FREAK 7 11.98 12.95 0.97
HARRIS + FREAK 8 13.12 14.11 0.99
HARRIS + FREAK 9 13.25 12.67 0.58
HARRIS + FREAK 10 11.17 12.79 1.62
HARRIS + FREAK 11 12.38 13.50 1.13
HARRIS + FREAK 12 9.18 12.74 3.56
HARRIS + FREAK 13 9.96 11.32 1.36
HARRIS + FREAK 14 9.47 12.29 2.82
HARRIS + FREAK 15 8.68 9.67 0.99
HARRIS + FREAK 16 9.51 11.12 1.60
HARRIS + FREAK 17 9.68 10.43 0.75
HARRIS + FREAK 18 8.40 11.99 3.59
FAST + BRISK 1 12.51 12.69 0.18
FAST + BRISK 2 12.41 12.35 0.06
FAST + BRISK 3 14.09 12.34 1.75
FAST + BRISK 4 16.69 12.70 3.99
FAST + BRISK 5 15.58 13.83 1.75
FAST + BRISK 6 12.89 12.18 0.70
FAST + BRISK 7 11.98 12.93 0.95
FAST + BRISK 8 13.12 12.40 0.72
FAST + BRISK 9 13.25 12.41 0.84
FAST + BRISK 10 11.17 13.83 2.65
FAST + BRISK 11 12.38 12.10 0.28
FAST + BRISK 12 9.18 12.59 3.41
FAST + BRISK 13 9.96 11.69 1.73
FAST + BRISK 14 9.47 11.50 2.03
FAST + BRISK 15 8.68 11.14 2.47
FAST + BRISK 16 9.51 11.16 1.65
FAST + BRISK 17 9.68 10.52 0.84
FAST + BRISK 18 8.40 11.76 3.36
FAST + BRIEF 1 12.51 11.75 0.76
FAST + BRIEF 2 12.41 11.76 0.66
FAST + BRIEF 3 14.09 13.96 0.13
FAST + BRIEF 4 16.69 13.13 3.55
FAST + BRIEF 5 15.58 14.83 0.75
FAST + BRIEF 6 12.89 13.59 0.71
FAST + BRIEF 7 11.98 13.28 1.30
FAST + BRIEF 8 13.12 12.77 0.35
FAST + BRIEF 9 13.25 12.80 0.45
FAST + BRIEF 10 11.17 13.01 1.84
FAST + BRIEF 11 12.38 11.87 0.51
FAST + BRIEF 12 9.18 11.53 2.34
FAST + BRIEF 13 9.96 11.71 1.74
FAST + BRIEF 14 9.47 10.65 1.18
FAST + BRIEF 15 8.68 11.53 2.85
FAST + BRIEF 16 9.51 10.32 0.81
FAST + BRIEF 17 9.68 9.89 0.22
FAST + BRIEF 18 8.40 11.51 3.11
FAST + ORB 1 12.51 11.33 1.18
FAST + ORB 2 12.41 12.33 0.09
FAST + ORB 3 14.09 12.32 1.77
FAST + ORB 4 16.69 12.60 4.08
FAST + ORB 5 15.58 13.26 2.32
FAST + ORB 6 12.89 12.41 0.48
FAST + ORB 7 11.98 13.66 1.68
FAST + ORB 8 13.12 12.78 0.34
FAST + ORB 9 13.25 12.46 0.79
FAST + ORB 10 11.17 12.87 1.69
FAST + ORB 11 12.38 11.95 0.43
FAST + ORB 12 9.18 11.20 2.02
FAST + ORB 13 9.96 11.72 1.76
FAST + ORB 14 9.47 10.78 1.31
FAST + ORB 15 8.68 10.44 1.76
FAST + ORB 16 9.51 10.15 0.64
FAST + ORB 17 9.68 9.26 0.42
FAST + ORB 18 8.40 11.39 2.99
FAST + FREAK 1 12.51 11.80 0.71
FAST + FREAK 2 12.41 12.26 0.15
FAST + FREAK 3 14.09 13.25 0.84
FAST + FREAK 4 16.69 13.75 2.93
FAST + FREAK 5 15.58 12.32 3.26
FAST + FREAK 6 12.89 12.09 0.79
FAST + FREAK 7 11.98 12.75 0.77
FAST + FREAK 8 13.12 12.84 0.28
FAST + FREAK 9 13.25 12.47 0.78
FAST + FREAK 10 11.17 12.82 1.65
FAST + FREAK 11 12.38 12.58 0.21
FAST + FREAK 12 9.18 12.35 3.17
FAST + FREAK 13 9.96 11.76 1.80
FAST + FREAK 14 9.47 11.21 1.74
FAST + FREAK 15 8.68 10.64 1.96
FAST + FREAK 16 9.51 11.05 1.54
FAST + FREAK 17 9.68 10.42 0.74
FAST + FREAK 18 8.40 11.75 3.35
BRISK + BRISK 1 12.51 13.37 0.86
BRISK + BRISK 2 12.41 21.00 8.59
BRISK + BRISK 3 14.09 12.48 1.60
BRISK + BRISK 4 16.69 15.20 1.48
BRISK + BRISK 5 15.58 27.67 12.08
BRISK + BRISK 6 12.89 17.99 5.10
BRISK + BRISK 7 11.98 17.62 5.64
BRISK + BRISK 8 13.12 16.07 2.95
BRISK + BRISK 9 13.25 14.62 1.37
BRISK + BRISK 10 11.17 13.47 2.30
BRISK + BRISK 11 12.38 13.02 0.64
BRISK + BRISK 12 9.18 11.24 2.06
BRISK + BRISK 13 9.96 11.74 1.78
BRISK + BRISK 14 9.47 12.67 3.21
BRISK + BRISK 15 8.68 13.29 4.62
BRISK + BRISK 16 9.51 11.50 1.99
BRISK + BRISK 17 9.68 9.37 0.31
BRISK + BRISK 18 8.40 10.94 2.54
BRISK + BRIEF 1 12.51 12.32 0.19
BRISK + BRIEF 2 12.41 16.55 4.14
BRISK + BRIEF 3 14.09 11.55 2.53
BRISK + BRIEF 4 16.69 20.93 4.24
BRISK + BRIEF 5 15.58 19.89 4.31
BRISK + BRIEF 6 12.89 18.15 5.26
BRISK + BRIEF 7 11.98 15.81 3.83
BRISK + BRIEF 8 13.12 18.68 5.55
BRISK + BRIEF 9 13.25 15.58 2.33
BRISK + BRIEF 10 11.17 11.19 0.02
BRISK + BRIEF 11 12.38 12.51 0.14
BRISK + BRIEF 12 9.18 14.31 5.12
BRISK + BRIEF 13 9.96 12.18 2.22
BRISK + BRIEF 14 9.47 11.14 1.67
BRISK + BRIEF 15 8.68 11.63 2.95
BRISK + BRIEF 16 9.51 11.39 1.87
BRISK + BRIEF 17 9.68 11.29 1.61
BRISK + BRIEF 18 8.40 10.64 2.24
BRISK + ORB 1 12.51 14.49 1.97
BRISK + ORB 2 12.41 19.54 7.13
BRISK + ORB 3 14.09 13.10 0.99
BRISK + ORB 4 16.69 16.78 0.09
BRISK + ORB 5 15.58 20.30 4.71
BRISK + ORB 6 12.89 20.32 7.44
BRISK + ORB 7 11.98 15.41 3.43
BRISK + ORB 8 13.12 15.92 2.80
BRISK + ORB 9 13.25 14.92 1.67
BRISK + ORB 10 11.17 11.29 0.12
BRISK + ORB 11 12.38 13.78 1.41
BRISK + ORB 12 9.18 11.02 1.84
BRISK + ORB 13 9.96 11.61 1.65
BRISK + ORB 14 9.47 12.55 3.08
BRISK + ORB 15 8.68 11.59 2.91
BRISK + ORB 16 9.51 10.90 1.38
BRISK + ORB 17 9.68 10.13 0.45
BRISK + ORB 18 8.40 11.51 3.11
BRISK + FREAK 1 12.51 12.95 0.43
BRISK + FREAK 2 12.41 22.31 9.89
BRISK + FREAK 3 14.09 13.96 0.13
BRISK + FREAK 4 16.69 13.54 3.15
BRISK + FREAK 5 15.58 23.46 7.88
BRISK + FREAK 6 12.89 16.33 3.44
BRISK + FREAK 7 11.98 15.52 3.54
BRISK + FREAK 8 13.12 18.03 4.91
BRISK + FREAK 9 13.25 15.19 1.94
BRISK + FREAK 10 11.17 14.01 2.84
BRISK + FREAK 11 12.38 13.13 0.75
BRISK + FREAK 12 9.18 11.45 2.26
BRISK + FREAK 13 9.96 11.49 1.52
BRISK + FREAK 14 9.47 11.65 2.18
BRISK + FREAK 15 8.68 13.80 5.13
BRISK + FREAK 16 9.51 10.20 0.69
BRISK + FREAK 17 9.68 9.38 0.30
BRISK + FREAK 18 8.40 11.10 2.70
ORB + BRISK 1 12.51 14.31 1.80
ORB + BRISK 2 12.41 12.25 0.17
ORB + BRISK 3 14.09 12.42 1.67
ORB + BRISK 4 16.69 32.98 16.29
ORB + BRISK 5 15.58 44.23 28.65
ORB + BRISK 6 12.89 11.11 1.77
ORB + BRISK 7 11.98 13.70 1.72
ORB + BRISK 8 13.12 10.94 2.18
ORB + BRISK 9 13.25 13.28 0.02
ORB + BRISK 10 11.17 19.47 8.30
ORB + BRISK 11 12.38 8.35 4.03
ORB + BRISK 12 9.18 0.00 9.18
ORB + BRISK 13 9.96 8.87 1.10
ORB + BRISK 14 9.47 9.47 0.00
ORB + BRISK 15 8.68 8.76 0.08
ORB + BRISK 16 9.51 13.28 3.76
ORB + BRISK 17 9.68 13.16 3.49
ORB + BRISK 18 8.40 26.18 17.78
ORB + BRIEF 1 12.51 20.66 8.15
ORB + BRIEF 2 12.41 40.96 28.55
ORB + BRIEF 3 14.09 103.67 89.58
ORB + BRIEF 4 16.69 16.08 0.61
ORB + BRIEF 5 15.58 22.34 6.76
ORB + BRIEF 6 12.89 15.13 2.24
ORB + BRIEF 7 11.98 12.61 0.63
ORB + BRIEF 8 13.12 76.76 63.64
ORB + BRIEF 9 13.25 188.58 175.33
ORB + BRIEF 10 11.17 16.26 5.09
ORB + BRIEF 11 12.38 17.45 5.07
ORB + BRIEF 12 9.18 14.12 4.94
ORB + BRIEF 13 9.96 12.85 2.89
ORB + BRIEF 14 9.47 9.71 0.24
ORB + BRIEF 15 8.68 7.04 1.63
ORB + BRIEF 16 9.51 9.64 0.13
ORB + BRIEF 17 9.68 13.44 3.76
ORB + BRIEF 18 8.40 21.81 13.41
ORB + ORB 1 12.51 43.09 30.58
ORB + ORB 2 12.41 10.18 2.23
ORB + ORB 3 14.09 16.68 2.59
ORB + ORB 4 16.69 30.17 13.49
ORB + ORB 5 15.58 29.65 14.07
ORB + ORB 6 12.89 32.00 19.12
ORB + ORB 7 11.98 44.17 32.19
ORB + ORB 8 13.12 9.60 3.52
ORB + ORB 9 13.25 52.80 39.55
ORB + ORB 10 11.17 13.15 1.97
ORB + ORB 11 12.38 8.29 4.09
ORB + ORB 12 9.18 35.64 26.46
ORB + ORB 13 9.96 9.78 0.19
ORB + ORB 14 9.47 9.56 0.09
ORB + ORB 15 8.68 9.82 1.14
ORB + ORB 16 9.51 9.93 0.42
ORB + ORB 17 9.68 14.68 5.00
ORB + ORB 18 8.40 27.48 19.08
ORB + FREAK 1 12.51 12.18 0.33
ORB + FREAK 2 12.41 20.12 7.71
ORB + FREAK 3 14.09 17.49 3.40
ORB + FREAK 4 16.69 10.87 5.81
ORB + FREAK 5 15.58 0.00 15.58
ORB + FREAK 6 12.89 11.54 1.34
ORB + FREAK 7 11.98 0.00 11.98
ORB + FREAK 8 13.12 9.02 4.10
ORB + FREAK 9 13.25 13.31 0.06
ORB + FREAK 10 11.17 0.00 11.17
ORB + FREAK 11 12.38 7.96 4.42
ORB + FREAK 12 9.18 35.85 26.67
ORB + FREAK 13 9.96 6.53 3.43
ORB + FREAK 14 9.47 57.39 47.92
ORB + FREAK 15 8.68 8.35 0.32
ORB + FREAK 16 9.51 7.77 1.75
ORB + FREAK 17 9.68 11.32 1.64
ORB + FREAK 18 8.40 24.19 15.79
AKAZE + BRISK 1 12.51 11.90 0.61
AKAZE + BRISK 2 12.41 15.66 3.24
AKAZE + BRISK 3 14.09 13.46 0.62
AKAZE + BRISK 4 16.69 14.42 2.27
AKAZE + BRISK 5 15.58 14.41 1.17
AKAZE + BRISK 6 12.89 14.53 1.65
AKAZE + BRISK 7 11.98 16.19 4.20
AKAZE + BRISK 8 13.12 14.02 0.90
AKAZE + BRISK 9 13.25 13.98 0.73
AKAZE + BRISK 10 11.17 12.00 0.82
AKAZE + BRISK 11 12.38 12.28 0.09
AKAZE + BRISK 12 9.18 10.50 1.31
AKAZE + BRISK 13 9.96 10.16 0.20
AKAZE + BRISK 14 9.47 9.88 0.41
AKAZE + BRISK 15 8.68 10.03 1.35
AKAZE + BRISK 16 9.51 10.49 0.97
AKAZE + BRISK 17 9.68 9.58 0.10
AKAZE + BRISK 18 8.40 8.93 0.53
AKAZE + BRIEF 1 12.51 13.28 0.77
AKAZE + BRIEF 2 12.41 15.51 3.10
AKAZE + BRIEF 3 14.09 13.56 0.53
AKAZE + BRIEF 4 16.69 13.98 2.71
AKAZE + BRIEF 5 15.58 14.70 0.88
AKAZE + BRIEF 6 12.89 13.66 0.77
AKAZE + BRIEF 7 11.98 15.81 3.83
AKAZE + BRIEF 8 13.12 14.42 1.30
AKAZE + BRIEF 9 13.25 13.65 0.40
AKAZE + BRIEF 10 11.17 11.77 0.59
AKAZE + BRIEF 11 12.38 12.37 0.01
AKAZE + BRIEF 12 9.18 11.65 2.47
AKAZE + BRIEF 13 9.96 10.16 0.19
AKAZE + BRIEF 14 9.47 9.70 0.23
AKAZE + BRIEF 15 8.68 9.30 0.62
AKAZE + BRIEF 16 9.51 9.74 0.23
AKAZE + BRIEF 17 9.68 9.38 0.30
AKAZE + BRIEF 18 8.40 9.13 0.73
AKAZE + ORB 1 12.51 12.40 0.11
AKAZE + ORB 2 12.41 15.10 2.69
AKAZE + ORB 3 14.09 13.29 0.80
AKAZE + ORB 4 16.69 14.36 2.33
AKAZE + ORB 5 15.58 15.62 0.04
AKAZE + ORB 6 12.89 13.65 0.76
AKAZE + ORB 7 11.98 15.41 3.43
AKAZE + ORB 8 13.12 13.97 0.85
AKAZE + ORB 9 13.25 13.26 0.01
AKAZE + ORB 10 11.17 11.72 0.55
AKAZE + ORB 11 12.38 11.97 0.41
AKAZE + ORB 12 9.18 11.63 2.45
AKAZE + ORB 13 9.96 10.14 0.17
AKAZE + ORB 14 9.47 10.11 0.64
AKAZE + ORB 15 8.68 10.21 1.53
AKAZE + ORB 16 9.51 9.74 0.23
AKAZE + ORB 17 9.68 8.97 0.71
AKAZE + ORB 18 8.40 9.08 0.68
AKAZE + FREAK 1 12.51 12.12 0.39
AKAZE + FREAK 2 12.41 14.12 1.70
AKAZE + FREAK 3 14.09 13.87 0.21
AKAZE + FREAK 4 16.69 14.40 2.28
AKAZE + FREAK 5 15.58 16.43 0.84
AKAZE + FREAK 6 12.89 14.27 1.39
AKAZE + FREAK 7 11.98 15.38 3.40
AKAZE + FREAK 8 13.12 14.07 0.95
AKAZE + FREAK 9 13.25 13.75 0.50
AKAZE + FREAK 10 11.17 11.93 0.75
AKAZE + FREAK 11 12.38 11.92 0.46
AKAZE + FREAK 12 9.18 10.96 1.78
AKAZE + FREAK 13 9.96 10.97 1.01
AKAZE + FREAK 14 9.47 9.84 0.37
AKAZE + FREAK 15 8.68 9.77 1.10
AKAZE + FREAK 16 9.51 10.43 0.91
AKAZE + FREAK 17 9.68 9.08 0.60
AKAZE + FREAK 18 8.40 8.66 0.27
AKAZE + AKAZE 1 12.51 12.34 0.17
AKAZE + AKAZE 2 12.41 14.16 1.74
AKAZE + AKAZE 3 14.09 12.91 1.18
AKAZE + AKAZE 4 16.69 14.48 2.21
AKAZE + AKAZE 5 15.58 16.51 0.93
AKAZE + AKAZE 6 12.89 13.66 0.77
AKAZE + AKAZE 7 11.98 15.34 3.36
AKAZE + AKAZE 8 13.12 14.14 1.02
AKAZE + AKAZE 9 13.25 13.94 0.69
AKAZE + AKAZE 10 11.17 11.62 0.45
AKAZE + AKAZE 11 12.38 12.15 0.22
AKAZE + AKAZE 12 9.18 11.04 1.86
AKAZE + AKAZE 13 9.96 11.29 1.33
AKAZE + AKAZE 14 9.47 10.47 1.00
AKAZE + AKAZE 15 8.68 10.05 1.37
AKAZE + AKAZE 16 9.51 9.81 0.30
AKAZE + AKAZE 17 9.68 9.00 0.68
AKAZE + AKAZE 18 8.40 8.97 0.58
SIFT + BRISK 1 12.51 11.68 0.84
SIFT + BRISK 2 12.41 12.98 0.57
SIFT + BRISK 3 14.09 14.48 0.39
SIFT + BRISK 4 16.69 18.55 1.86
SIFT + BRISK 5 15.58 14.91 0.68
SIFT + BRISK 6 12.89 11.55 1.34
SIFT + BRISK 7 11.98 13.97 1.99
SIFT + BRISK 8 13.12 15.56 2.44
SIFT + BRISK 9 13.25 12.97 0.28
SIFT + BRISK 10 11.17 10.84 0.33
SIFT + BRISK 11 12.38 13.24 0.86
SIFT + BRISK 12 9.18 10.18 0.99
SIFT + BRISK 13 9.96 10.13 0.16
SIFT + BRISK 14 9.47 9.55 0.08
SIFT + BRISK 15 8.68 9.60 0.92
SIFT + BRISK 16 9.51 8.77 0.74
SIFT + BRISK 17 9.68 9.52 0.16
SIFT + BRISK 18 8.40 9.33 0.93
SIFT + BRIEF 1 12.51 12.06 0.45
SIFT + BRIEF 2 12.41 14.06 1.65
SIFT + BRIEF 3 14.09 15.07 0.98
SIFT + BRIEF 4 16.69 21.15 4.47
SIFT + BRIEF 5 15.58 13.79 1.80
SIFT + BRIEF 6 12.89 12.55 0.34
SIFT + BRIEF 7 11.98 14.24 2.26
SIFT + BRIEF 8 13.12 15.26 2.14
SIFT + BRIEF 9 13.25 12.66 0.59
SIFT + BRIEF 10 11.17 10.31 0.86
SIFT + BRIEF 11 12.38 12.77 0.40
SIFT + BRIEF 12 9.18 9.77 0.59
SIFT + BRIEF 13 9.96 10.08 0.11
SIFT + BRIEF 14 9.47 9.27 0.20
SIFT + BRIEF 15 8.68 10.30 1.62
SIFT + BRIEF 16 9.51 8.47 1.04
SIFT + BRIEF 17 9.68 8.95 0.73
SIFT + BRIEF 18 8.40 8.94 0.54
SIFT + FREAK 1 12.51 11.31 1.21
SIFT + FREAK 2 12.41 13.62 1.20
SIFT + FREAK 3 14.09 13.61 0.47
SIFT + FREAK 4 16.69 20.46 3.77
SIFT + FREAK 5 15.58 14.99 0.60
SIFT + FREAK 6 12.89 12.24 0.64
SIFT + FREAK 7 11.98 14.66 2.68
SIFT + FREAK 8 13.12 14.42 1.30
SIFT + FREAK 9 13.25 14.57 1.32
SIFT + FREAK 10 11.17 11.86 0.69
SIFT + FREAK 11 12.38 11.47 0.91
SIFT + FREAK 12 9.18 9.91 0.73
SIFT + FREAK 13 9.96 10.25 0.28
SIFT + FREAK 14 9.47 9.93 0.46
SIFT + FREAK 15 8.68 9.54 0.86
SIFT + FREAK 16 9.51 9.09 0.42
SIFT + FREAK 17 9.68 9.20 0.48
SIFT + FREAK 18 8.40 9.57 1.17