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Comprehensive Comparison for Feature Detection, Feature Extraction and Feature Matching.
| Feature Detection and Descriptor Extraction Method | Number for Feature Points | Time for Feature Detection and Descriptor Extraction (ms) | Number for Matching Pairs | Time for Feature Matching (ms) | Total Time (ms) |
|---|---|---|---|---|---|
| SIFT | 168 | 65 | 83 | 10 | 140 |
| SURF_default | 604 | 166 | 182 | 35 | 367 |
| SURF_0 | 2360 | 375 | 255 | 134 | 884 |
| ORB_default | 388 | 12 | 113 | 13 | 37 |
| ORB_10000 | 1112 | 16 | 327 | 39 | 71 |
