Table 1.

Variation of the first image matching time with the sampling rate.

Sampling rate	1	2	4	8	16
Image size	3619 × 1825	1810 × 912	905 × 456	452 × 228	226 × 114
Total number of feature points	39624	32904	11058	3077	761
Matching time/ms	10452	3711	1051	281	69