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Comparison cost times for five different methods.
| Method for Feature Detection and Descriptor Extraction | Time for Feature Detection (ms) | Time for Descriptor Extraction (ms) | The Number for Feature Points |
|---|---|---|---|
| SIFT | 34.910 | 49.082 | 350 |
| SURF_default | 100.008 | 169.284 | 1124 |
| SURF_0 | 147.597 | 264.002 | 2586 |
| ORB_default | 6.622 | 8.302 | 500 |
| ORB_10000 | 8.422 | 15.094 | 2462 |
