Table 2.

Test parameters, test methods, and parameter settings used in the experiment.

Method	Detection	Description	Matching	Description Size	Error Threshold	Optimization
SIFT	DOG	SIFT	Euclidean	128-dimensional	3 pixels	RANSAC
SURF	Hessian	SURF	Euclidean	64-dimensional	3 pixels	RANSAC
BRIEF	FAST	BRIEF	Hamming	32 bytes	3 pixels	RANSAC
BRISK	BRISK	BRISK	Hamming	64 bytes	3 pixels	RANSAC
FREAK	Harris	FREAK	Hamming	64 bytes	3 pixels	RANSAC
LDB	FAST	LDB	Hamming	32 bytes	3 pixels	RANSAC
ORB	FAST	ORB	Hamming	32 bytes	3 pixels	RANSAC
ORB-TPLGD	FAST	ORB-TPLGD	Hamming	64 bytes	3 pixels	RANSAC