Table 7. LevMar memory and run time.

Order of growth of memory requirements and run time of LevMar and sparse LevMar techniques as a function of the number of images. The exponent and coefficient of determination (R ²) of a power-function fit to the data is shown for the LevMar and sparse LevMar run times from Fig. 4 ▸(a) and for each of the plots in Fig. 4 ▸(d). The R ² value gives a measure of the fit of the power function given the exponent.

	Exponent	R 2 (%)
Normal matrix square size	1.89	99.9
Normal matrix nonzeros	1.01	100.0
Cholesky factor nonzeros	0.95	100.0
LevMar time	2.45	98.5
Sparse LevMar time	1.13	98.6