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Parameters
| Parameter | Value | Description |
|---|---|---|
|
| ||
| i | 1000 | RANSAC iterations |
| δ | 10 | RANSAC match threshold |
| d | 7 | Nominally close distance |
| T 1 | 50 | Immediately accept threshold |
| T 2 | 10 | Best match accept threshold |
| N | 5000 | Number of ORB features |
| λ | 21 | ORB brightness threshold |
| η | 9 | ORB contiguous pixels |
| r | 3 | Radius of circular arc |
| b | 6 | Number of LSH buckets |
