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Comparing results of dealing with the sequence “freiburg3_long_office_household”.
| Detector/Descriptor | Loop Accepted | Loop Rejected | RMSE (m) |
|---|---|---|---|
| SURF | 4 | 12 | 0.064 |
| ORB | 0 | 11 | 0.562 |
| SIFT | 3 | 16 | 0.062 |
| FAST/FREAK | – | – | – |
| FAST/BRIEF | 6 | 14 | 0.058 |
| GFTT/FREAK | 6 | 14 | 0.061 |
| GFTT/BRIEF | 3 | 16 | 0.069 |
| BRISK | 6 | 13 | 0.055 |
| FAST/BRAND | 9 | 14 | 0.033 |
