Table 5. Processing time (ms) for various components of our proposed method compared with the CNN method (Ke et al., 2018 ▸) on 64 images.

	CNN			ORB+MLP
Processes	LCN	CNN	Total time	ORB	BVWs	MLP	Total time
Train	5700	260	5960	11.264	3171	197.3	3379.564
Test	5700	50	5750	11.584	3099	101.03	3211.614