Table 13.

Tukey test result of ORB-TPLGD part for recall, RMSE, and matching time.

					95% Confidence Interval
Method	Method	Average Difference	Standard Error	Significance	Lower Limit	Upper Limit
ORB-TPLGD   Recall	SIFT	−32.94057116	1.369958860	0.000	−35.65550807	−30.22563426
	SURF	−38.47078077	1.369958860	0.000	−41.18571767	−35.75584386
	BRIEF	5.92953077	1.369958860	0.000	3.21459386	8.64446767
	BRISK	−8.10979419	1.369958860	0.000	−10.82473109	−5.39485728
	FREAK	6.23592969	1.369958860	0.000	3.52099279	8.95086660
	LDB	2.97556157	1.369958860	0.032	0.26062467	5.69049848
	ORB	4.46683540	1.369958860	0.001	1.75189850	7.18177231
ORB-TPLGD   RMSE	SIFT	0.66362698	0.022703694	0.000	0.59347042	0.73378354
	SURF	0.03282317	0.022703694	0.834	−0.03733339	0.10297974
	BRIEF	−0.00641205	0.022703694	1.000	−0.07656861	0.06374451
	BRISK	0.25355510	0.022703694	0.000	0.18339854	0.32371167
	FREAK	0.21858159	0.022703694	0.000	0.14842503	0.28873815
	LDB	−0.09820595	0.022703694	0.001	−0.16836251	−0.02804939
	ORB	−0.07616251	0.022703694	0.023	−0.14631907	−0.00600595
ORB-TPLGD   Time	SIFT	−109.30440487	13.677017775	0.000	−151.56768291	−67.04112683
	SURF	−50.43650578	13.677017775	0.008	−92.69978382	−8.17322773
	BRIEF	14.41661464	13.677017775	0.965	−27.84666340	56.67989269
	BRISK	−1102.44706393	13.677017775	0.000	−1144.71034197	−1060.18378589
	FREAK	21.43998449	13.677017775	0.768	−20.82329355	63.70326254
	LDB	45.75413473	13.677017775	0.024	3.49085668	88.01741277
	ORB	20.51195562	13.677017775	0.806	−21.75132243	62.77523366