Performance Evaluation.xlsx

Frame Number,Detector Type,Detection Time(ms),Number of keypoints detected,Number of KeyPoints n preceding vehicle ,Descriptor Type,Descriptor Time(ms),Number of Matches,MatchingTime(ms))
1,SHITOMASI,18.70802,1370,125,BRISK,1.74049,0,0.00000,
2,SHITOMASI,16.26905,1301,118,BRISK,2.57130,95,0.36845,
3,SHITOMASI,17.88591,1361,123,BRISK,2.47516,88,0.31546,
4,SHITOMASI,16.57094,1358,120,BRISK,2.26938,80,0.30645,
5,SHITOMASI,16.00614,1333,120,BRISK,2.39324,90,0.32823,
6,SHITOMASI,17.33286,1284,113,BRISK,2.17219,82,0.31700,
7,SHITOMASI,16.77560,1322,114,BRISK,2.16955,79,0.31138,
8,SHITOMASI,16.02303,1366,123,BRISK,2.37403,85,0.34688,
9,SHITOMASI,16.48433,1389,111,BRISK,2.16864,86,0.28864,
10,SHITOMASI,15.39184,1339,112,BRISK,2.62041,82,0.30849,

1,SHITOMASI,17.58076,1370,125,BRIEF,1.60659,0,0.00000,
2,SHITOMASI,17.76016,1301,118,BRIEF,1.24398,115,0.33365,
3,SHITOMASI,16.62452,1361,123,BRIEF,1.37275,111,0.35512,
4,SHITOMASI,15.17375,1358,120,BRIEF,1.18838,104,0.30131,
5,SHITOMASI,17.92048,1333,120,BRIEF,1.23731,101,0.26702,
6,SHITOMASI,17.46104,1284,113,BRIEF,1.17883,102,0.31085,
7,SHITOMASI,16.81195,1322,114,BRIEF,1.13484,102,0.26300,
8,SHITOMASI,16.09656,1366,123,BRIEF,1.30903,100,0.30788,
9,SHITOMASI,17.63974,1389,111,BRIEF,1.44034,109,0.27953,
10,SHITOMASI,19.35842,1339,112,BRIEF,1.16020,100,0.23991,

1,SHITOMASI,14.33818,1370,125,ORB,1.24698,0,0.00000,
2,SHITOMASI,17.79937,1301,118,ORB,1.04711,106,0.33823,
3,SHITOMASI,18.04822,1361,123,ORB,1.05233,102,0.30488,
4,SHITOMASI,16.94512,1358,120,ORB,1.20289,99,0.32068,
5,SHITOMASI,15.32056,1333,120,ORB,0.94119,102,0.35375,
6,SHITOMASI,18.13021,1284,113,ORB,1.03985,103,0.27016,
7,SHITOMASI,18.12829,1322,114,ORB,1.27215,97,0.30834,
8,SHITOMASI,16.46021,1366,123,ORB,0.95789,98,0.26212,
9,SHITOMASI,16.11820,1389,111,ORB,0.97781,104,0.29300,
10,SHITOMASI,17.50448,1339,112,ORB,1.17914,97,0.26416,

1,SHITOMASI,18.30243,1370,125,FREAK,43.16047,0,0.00000,
2,SHITOMASI,19.64937,1301,118,FREAK,42.31107,86,0.35672,
3,SHITOMASI,11.65467,1361,123,FREAK,39.60039,90,0.36181,
4,SHITOMASI,11.95691,1358,120,FREAK,39.84761,86,0.30445,
5,SHITOMASI,12.69225,1333,120,FREAK,42.12838,88,0.31552,
6,SHITOMASI,13.27936,1284,113,FREAK,41.34976,86,0.31810,
7,SHITOMASI,11.75582,1322,114,FREAK,40.81126,80,0.27974,
8,SHITOMASI,11.75010,1366,123,FREAK,40.99986,81,0.32855,
9,SHITOMASI,11.44994,1389,111,FREAK,41.38051,86,0.30399,
10,SHITOMASI,11.56578,1339,112,FREAK,41.58516,85,0.33160,

1,SHITOMASI,0.00000,0,0,AKAZE,0.00000,0,0.00000,
2,SHITOMASI,0.00000,0,0,AKAZE,0.00000,0,0.00000,
3,SHITOMASI,0.00000,0,0,AKAZE,0.00000,0,0.00000,
4,SHITOMASI,0.00000,0,0,AKAZE,0.00000,0,0.00000,
5,SHITOMASI,0.00000,0,0,AKAZE,0.00000,0,0.00000,
6,SHITOMASI,0.00000,0,0,AKAZE,0.00000,0,0.00000,
7,SHITOMASI,0.00000,0,0,AKAZE,0.00000,0,0.00000,
8,SHITOMASI,0.00000,0,0,AKAZE,0.00000,0,0.00000,
9,SHITOMASI,0.00000,0,0,AKAZE,0.00000,0,0.00000,
10,SHITOMASI,0.00000,0,0,AKAZE,0.00000,0,0.00000,

1,SHITOMASI,11.78794,1370,125,SIFT,16.73245,0,0.00000,
2,SHITOMASI,11.20085,1301,118,SIFT,16.98396,112,0.36800,
3,SHITOMASI,11.67914,1361,123,SIFT,17.64964,109,0.38006,
4,SHITOMASI,11.42678,1358,120,SIFT,15.46223,104,0.36924,
5,SHITOMASI,13.18125,1333,120,SIFT,15.10200,103,0.38755,
6,SHITOMASI,15.80783,1284,113,SIFT,17.77567,99,0.38035,
7,SHITOMASI,11.46454,1322,114,SIFT,17.43387,101,0.34536,
8,SHITOMASI,11.49719,1366,123,SIFT,16.49178,96,0.36591,
9,SHITOMASI,13.85538,1389,111,SIFT,15.29069,106,0.35790,
10,SHITOMASI,12.34130,1339,112,SIFT,16.37405,97,0.43767,

1,HARRIS,15.52921,115,17,BRISK,0.52663,0,0.00000,
2,HARRIS,13.07787,98,14,BRISK,0.56738,12,0.11110,
3,HARRIS,13.25125,113,18,BRISK,0.52240,10,0.10328,
4,HARRIS,12.14220,121,21,BRISK,0.58238,14,0.09527,
5,HARRIS,16.18429,160,26,BRISK,0.60932,15,0.16466,
6,HARRIS,29.90496,383,43,BRISK,0.84137,16,0.12698,
7,HARRIS,12.12573,85,18,BRISK,0.59997,16,0.11994,
8,HARRIS,14.79406,210,31,BRISK,0.66163,15,0.10916,
9,HARRIS,12.43253,171,26,BRISK,0.61529,23,0.11673,
10,HARRIS,17.93441,281,34,BRISK,0.70156,21,0.13259,

1,HARRIS,12.55545,115,17,BRIEF,0.27209,0,0.00000,
2,HARRIS,11.56445,98,14,BRIEF,0.25046,14,0.07161,
3,HARRIS,13.99553,113,18,BRIEF,0.26816,11,0.07961,
4,HARRIS,11.62796,121,21,BRIEF,0.26317,15,0.07447,
5,HARRIS,12.91663,160,26,BRIEF,0.49097,20,0.08170,
6,HARRIS,29.65598,383,43,BRIEF,0.37498,24,0.09890,
7,HARRIS,13.33252,85,18,BRIEF,0.28401,26,0.10873,
8,HARRIS,15.30397,210,31,BRIEF,0.30274,16,0.09783,
9,HARRIS,12.75500,171,26,BRIEF,0.38039,24,0.09537,
10,HARRIS,17.98187,281,34,BRIEF,0.41496,23,0.12937,

1,HARRIS,11.74319,115,17,ORB,0.74308,0,0.00000,
2,HARRIS,13.67368,98,14,ORB,0.96952,12,0.06639,
3,HARRIS,11.11812,113,18,ORB,0.80603,12,0.09781,
4,HARRIS,11.31709,121,21,ORB,0.80507,15,0.07306,
5,HARRIS,11.87305,160,26,ORB,0.91430,18,0.08472,
6,HARRIS,25.61920,383,43,ORB,0.77262,24,0.13601,
7,HARRIS,11.88987,85,18,ORB,0.83108,20,0.09859,
8,HARRIS,13.27264,210,31,ORB,0.76860,15,0.09185,
9,HARRIS,14.43822,171,26,ORB,0.71939,24,0.10355,
10,HARRIS,18.90653,281,34,ORB,0.72074,22,0.11479,

1,HARRIS,11.33463,115,17,FREAK,38.71536,0,0.00000,
2,HARRIS,11.83082,98,14,FREAK,37.09806,13,0.08973,
3,HARRIS,11.36608,113,18,FREAK,38.78498,13,0.05879,
4,HARRIS,11.40163,121,21,FREAK,38.20635,15,0.07639,
5,HARRIS,12.23440,160,26,FREAK,39.92810,15,0.08537,
6,HARRIS,25.87075,383,43,FREAK,38.91911,17,0.17828,
7,HARRIS,11.38004,85,18,FREAK,41.63358,20,0.13393,
8,HARRIS,14.02652,210,31,FREAK,41.02414,12,0.09336,
9,HARRIS,13.35890,171,26,FREAK,38.36675,21,0.11077,
10,HARRIS,17.54583,281,34,FREAK,40.76701,18,0.10686,

1,HARRIS,0.00000,0,0,AKAZE,0.00000,0,0.00000,
2,HARRIS,0.00000,0,0,AKAZE,0.00000,0,0.00000,
3,HARRIS,0.00000,0,0,AKAZE,0.00000,0,0.00000,
4,HARRIS,0.00000,0,0,AKAZE,0.00000,0,0.00000,
5,HARRIS,0.00000,0,0,AKAZE,0.00000,0,0.00000,
6,HARRIS,0.00000,0,0,AKAZE,0.00000,0,0.00000,
7,HARRIS,0.00000,0,0,AKAZE,0.00000,0,0.00000,
8,HARRIS,0.00000,0,0,AKAZE,0.00000,0,0.00000,
9,HARRIS,0.00000,0,0,AKAZE,0.00000,0,0.00000,
10,HARRIS,0.00000,0,0,AKAZE,0.00000,0,0.00000,

1,HARRIS,12.36180,115,17,SIFT,16.34886,0,0.00000,
2,HARRIS,11.26183,98,14,SIFT,15.31911,14,0.05075,
3,HARRIS,12.02782,113,18,SIFT,14.98487,11,0.08315,
4,HARRIS,16.32177,121,21,SIFT,14.12608,16,0.04571,
5,HARRIS,15.58461,160,26,SIFT,14.90527,19,0.06423,
6,HARRIS,27.73475,383,43,SIFT,12.98169,22,0.06289,
7,HARRIS,11.83893,85,18,SIFT,15.34835,22,0.06443,
8,HARRIS,13.67904,210,31,SIFT,14.12614,13,0.06426,
9,HARRIS,12.32473,171,26,SIFT,14.04927,24,0.04790,
10,HARRIS,20.58775,281,34,SIFT,14.27682,22,0.06609,

1,FAST,0.97190,1824,149,BRISK,2.53088,0,0.00000,
2,FAST,1.16155,1832,152,BRISK,2.11131,97,0.46309,
3,FAST,1.24892,1810,150,BRISK,2.21604,104,0.51604,
4,FAST,0.91091,1817,155,BRISK,1.85297,101,0.54680,
5,FAST,1.02267,1793,149,BRISK,1.69451,98,0.45271,
6,FAST,0.94669,1796,149,BRISK,1.93304,85,0.42477,
7,FAST,0.97038,1788,156,BRISK,1.86069,107,0.49819,
8,FAST,1.25010,1695,150,BRISK,1.95158,107,0.48704,
9,FAST,1.14209,1749,138,BRISK,1.70424,100,0.46531,
10,FAST,1.29534,1770,143,BRISK,1.68162,100,0.41913,

1,FAST,0.89252,1824,149,BRIEF,0.72588,0,0.00000,
2,FAST,0.94058,1832,152,BRIEF,0.71131,119,0.42784,
3,FAST,0.88412,1810,150,BRIEF,0.68592,130,0.34644,
4,FAST,0.90795,1817,155,BRIEF,0.75501,118,0.40531,
5,FAST,0.81466,1793,149,BRIEF,0.73300,126,0.37562,
6,FAST,1.34900,1796,149,BRIEF,1.35180,108,0.39462,
7,FAST,0.88299,1788,156,BRIEF,0.68303,123,0.42174,
8,FAST,0.78446,1695,150,BRIEF,0.64171,131,0.53055,
9,FAST,1.22024,1749,138,BRIEF,1.17034,125,0.39234,
10,FAST,0.90833,1770,143,BRIEF,0.66757,119,0.33986,

1,FAST,0.92975,1824,149,ORB,0.95207,0,0.00000,
2,FAST,0.91812,1832,152,ORB,1.27636,118,0.49535,
3,FAST,0.92051,1810,150,ORB,0.96892,123,0.52991,
4,FAST,0.78240,1817,155,ORB,0.89066,112,0.36216,
5,FAST,0.89014,1793,149,ORB,1.01270,126,0.40842,
6,FAST,0.92545,1796,149,ORB,1.00720,106,0.40746,
7,FAST,0.97386,1788,156,ORB,1.10677,122,0.41363,
8,FAST,0.82059,1695,150,ORB,0.97364,122,0.42763,
9,FAST,0.96819,1749,138,ORB,0.99913,123,0.39723,
10,FAST,0.92278,1770,143,ORB,0.98249,119,0.46623,

1,FAST,0.95542,1824,149,FREAK,43.83701,0,0.00000,
2,FAST,0.91650,1832,152,FREAK,42.72697,98,0.46154,
3,FAST,0.99102,1810,150,FREAK,39.88607,99,0.38794,
4,FAST,0.79047,1817,155,FREAK,41.19817,91,0.38787,
5,FAST,0.78932,1793,149,FREAK,40.60870,98,0.41813,
6,FAST,1.31834,1796,149,FREAK,40.80918,85,0.38293,
7,FAST,0.83837,1788,156,FREAK,40.97089,99,0.51051,
8,FAST,0.92661,1695,150,FREAK,40.93708,102,0.49739,
9,FAST,0.93336,1749,138,FREAK,43.51544,101,0.44312,
10,FAST,0.89996,1770,143,FREAK,39.77553,105,0.40750,

1,FAST,0.00000,0,0,AKAZE,0.00000,0,0.00000,
2,FAST,0.00000,0,0,AKAZE,0.00000,0,0.00000,
3,FAST,0.00000,0,0,AKAZE,0.00000,0,0.00000,
4,FAST,0.00000,0,0,AKAZE,0.00000,0,0.00000,
5,FAST,0.00000,0,0,AKAZE,0.00000,0,0.00000,
6,FAST,0.00000,0,0,AKAZE,0.00000,0,0.00000,
7,FAST,0.00000,0,0,AKAZE,0.00000,0,0.00000,
8,FAST,0.00000,0,0,AKAZE,0.00000,0,0.00000,
9,FAST,0.00000,0,0,AKAZE,0.00000,0,0.00000,
10,FAST,0.00000,0,0,AKAZE,0.00000,0,0.00000,

1,FAST,1.00712,1824,149,SIFT,20.09227,0,0.00000,
2,FAST,0.95341,1832,152,SIFT,19.54074,118,0.46723,
3,FAST,0.80658,1810,150,SIFT,19.20024,123,0.54743,
4,FAST,0.92539,1817,155,SIFT,20.19112,110,0.66989,
5,FAST,0.95262,1793,149,SIFT,19.61923,119,0.55419,
6,FAST,0.92851,1796,149,SIFT,18.66081,114,0.52374,
7,FAST,1.02323,1788,156,SIFT,21.98145,119,0.85419,
8,FAST,0.92043,1695,150,SIFT,25.98527,123,0.58406,
9,FAST,1.02412,1749,138,SIFT,19.37716,117,0.56293,
10,FAST,0.90429,1770,143,SIFT,21.98425,103,0.43967,

1,BRISK,42.01944,2757,264,BRISK,3.00744,0,0.00000,
2,BRISK,43.64184,2777,282,BRISK,3.26055,171,1.08861,
3,BRISK,42.59613,2741,282,BRISK,3.15952,176,1.08488,
4,BRISK,40.43530,2735,277,BRISK,3.15059,157,1.12900,
5,BRISK,41.22666,2757,297,BRISK,3.47553,176,1.12872,
6,BRISK,41.58795,2695,279,BRISK,3.16232,174,1.10882,
7,BRISK,39.52234,2715,289,BRISK,3.31470,188,1.19786,
8,BRISK,38.43250,2628,272,BRISK,2.91279,173,1.11764,
9,BRISK,39.98007,2639,266,BRISK,2.85028,171,1.04060,
10,BRISK,40.44597,2672,254,BRISK,2.98973,184,0.96648,

1,BRISK,40.90234,2757,264,BRIEF,1.21101,0,0.00000,
2,BRISK,41.25446,2777,282,BRIEF,1.15636,178,0.93033,
3,BRISK,41.43660,2741,282,BRIEF,1.26963,205,1.03737,
4,BRISK,39.78840,2735,277,BRIEF,1.46082,185,2.31019,
5,BRISK,41.79814,2757,297,BRIEF,1.29893,179,1.07426,
6,BRISK,39.78580,2695,279,BRIEF,1.00661,183,1.12846,
7,BRISK,40.32067,2715,289,BRIEF,1.26732,195,1.13925,
8,BRISK,39.44904,2628,272,BRIEF,1.19823,207,1.00544,
9,BRISK,39.11818,2639,266,BRIEF,1.14760,189,1.00397,
10,BRISK,41.03441,2672,254,BRIEF,1.01890,183,0.78763,

1,BRISK,40.37707,2757,264,ORB,4.52241,0,0.00000,
2,BRISK,41.91828,2777,282,ORB,4.56633,162,0.97164,
3,BRISK,41.40590,2741,282,ORB,4.51212,175,1.21268,
4,BRISK,40.23771,2735,277,ORB,4.20226,158,0.93451,
5,BRISK,41.77735,2757,297,ORB,4.68507,167,1.10899,
6,BRISK,40.68459,2695,279,ORB,4.40857,160,1.19898,
7,BRISK,40.89259,2715,289,ORB,4.30429,182,1.02836,
8,BRISK,40.75859,2628,272,ORB,4.65774,167,1.05693,
9,BRISK,39.23022,2639,266,ORB,4.54562,171,0.94509,
10,BRISK,40.21589,2672,254,ORB,4.49647,172,0.90925,

1,BRISK,40.38088,2757,264,FREAK,47.60507,0,0.00000,
2,BRISK,41.34915,2777,282,FREAK,46.25129,160,0.89214,
3,BRISK,40.05700,2741,282,FREAK,41.65012,177,0.92922,
4,BRISK,41.40272,2735,277,FREAK,40.78758,155,0.97896,
5,BRISK,40.02694,2757,297,FREAK,44.93531,173,1.05555,
6,BRISK,41.13813,2695,279,FREAK,43.09692,161,1.04730,
7,BRISK,41.32836,2715,289,FREAK,42.56185,183,1.06938,
8,BRISK,40.22813,2628,272,FREAK,40.76572,169,0.97332,
9,BRISK,40.15008,2639,266,FREAK,42.28490,178,0.93303,
10,BRISK,40.35959,2672,254,FREAK,42.50951,168,0.87662,

1,BRISK,0.00000,0,0,AKAZE,0.00000,0,0.00000,
2,BRISK,0.00000,0,0,AKAZE,0.00000,0,0.00000,
3,BRISK,0.00000,0,0,AKAZE,0.00000,0,0.00000,
4,BRISK,0.00000,0,0,AKAZE,0.00000,0,0.00000,
5,BRISK,0.00000,0,0,AKAZE,0.00000,0,0.00000,
6,BRISK,0.00000,0,0,AKAZE,0.00000,0,0.00000,
7,BRISK,0.00000,0,0,AKAZE,0.00000,0,0.00000,
8,BRISK,0.00000,0,0,AKAZE,0.00000,0,0.00000,
9,BRISK,0.00000,0,0,AKAZE,0.00000,0,0.00000,
10,BRISK,0.00000,0,0,AKAZE,0.00000,0,0.00000,

1,BRISK,39.91542,2757,264,SIFT,42.08302,0,0.00000,
2,BRISK,41.64749,2777,282,SIFT,44.73654,182,1.63144,
3,BRISK,41.33087,2741,282,SIFT,44.61934,193,1.70388,
4,BRISK,41.40957,2735,277,SIFT,45.38212,169,2.63503,
5,BRISK,42.63516,2757,297,SIFT,44.77593,183,1.92418,
6,BRISK,41.90316,2695,279,SIFT,43.75373,171,1.92833,
7,BRISK,40.61668,2715,289,SIFT,44.44152,195,1.85743,
8,BRISK,40.38892,2628,272,SIFT,45.13603,194,1.77001,
9,BRISK,40.80467,2639,266,SIFT,44.93670,176,1.49059,
10,BRISK,40.89468,2672,254,SIFT,42.79266,183,1.48571,

1,ORB,10.03397,500,92,BRISK,1.18119,0,0.00000,
2,ORB,7.63061,500,102,BRISK,1.35142,73,0.24897,
3,ORB,7.14582,500,106,BRISK,1.37804,74,0.30150,
4,ORB,7.35437,500,113,BRISK,1.41494,79,0.26330,
5,ORB,7.39558,500,109,BRISK,1.43979,85,0.27510,
6,ORB,7.64677,500,125,BRISK,1.68899,79,0.33443,
7,ORB,7.58030,500,130,BRISK,1.65424,92,0.31728,
8,ORB,7.74184,500,129,BRISK,1.77050,90,0.31060,
9,ORB,7.41089,500,127,BRISK,1.54388,88,0.34613,
10,ORB,7.46403,500,128,BRISK,1.55395,91,0.36054,

1,ORB,7.32079,500,92,BRIEF,0.46378,0,0.00000,
2,ORB,10.56925,500,102,BRIEF,0.89480,49,0.22421,
3,ORB,6.89762,500,106,BRIEF,0.50958,43,0.20174,
4,ORB,7.20350,500,113,BRIEF,0.58985,45,0.20972,
5,ORB,6.73541,500,109,BRIEF,0.52760,59,0.21556,
6,ORB,7.18778,500,125,BRIEF,0.59648,53,0.24246,
7,ORB,7.11172,500,130,BRIEF,0.67554,78,0.28399,
8,ORB,7.37604,500,129,BRIEF,0.58056,68,0.26392,
9,ORB,7.25453,500,127,BRIEF,0.64911,84,0.26726,
10,ORB,6.95034,500,128,BRIEF,0.60896,66,0.27613,

1,ORB,7.03624,500,92,ORB,4.26929,0,0.00000,
2,ORB,7.13317,500,102,ORB,4.13144,67,0.19720,
3,ORB,7.29639,500,106,ORB,5.15353,70,0.22561,
4,ORB,7.00095,500,113,ORB,4.56890,72,0.24444,
5,ORB,7.09970,500,109,ORB,4.28845,84,0.29516,
6,ORB,7.02375,500,125,ORB,5.64824,91,0.24370,
7,ORB,7.14944,500,130,ORB,4.46216,101,0.31985,
8,ORB,7.03020,500,129,ORB,4.38943,92,0.29966,
9,ORB,6.65233,500,127,ORB,7.09046,93,0.30495,
10,ORB,7.11993,500,128,ORB,4.58804,93,0.27930,

1,ORB,7.71502,500,92,FREAK,42.74849,0,0.00000,
2,ORB,7.73526,500,102,FREAK,41.35074,42,0.16318,
3,ORB,7.00486,500,106,FREAK,38.89113,36,0.13204,
4,ORB,7.04074,500,113,FREAK,39.59070,44,0.14020,
5,ORB,6.69442,500,109,FREAK,40.28125,47,0.18540,
6,ORB,8.93854,500,125,FREAK,39.05494,44,0.14017,
7,ORB,6.87535,500,130,FREAK,39.11625,51,0.14605,
8,ORB,7.07695,500,129,FREAK,40.76773,52,0.16045,
9,ORB,7.24793,500,127,FREAK,40.29975,48,0.18289,
10,ORB,7.52552,500,128,FREAK,39.44494,56,0.17837,

1,ORB,0.00000,0,0,AKAZE,0.00000,0,0.00000,
2,ORB,0.00000,0,0,AKAZE,0.00000,0,0.00000,
3,ORB,0.00000,0,0,AKAZE,0.00000,0,0.00000,
4,ORB,0.00000,0,0,AKAZE,0.00000,0,0.00000,
5,ORB,0.00000,0,0,AKAZE,0.00000,0,0.00000,
6,ORB,0.00000,0,0,AKAZE,0.00000,0,0.00000,
7,ORB,0.00000,0,0,AKAZE,0.00000,0,0.00000,
8,ORB,0.00000,0,0,AKAZE,0.00000,0,0.00000,
9,ORB,0.00000,0,0,AKAZE,0.00000,0,0.00000,
10,ORB,0.00000,0,0,AKAZE,0.00000,0,0.00000,

1,ORB,7.31267,500,92,SIFT,43.03583,0,0.00000,
2,ORB,7.26193,500,102,SIFT,44.33982,67,0.31184,
3,ORB,7.92471,500,106,SIFT,47.50253,79,0.33042,
4,ORB,7.96037,500,113,SIFT,45.71248,78,0.42894,
5,ORB,7.33095,500,109,SIFT,43.12960,79,0.38500,
6,ORB,6.95338,500,125,SIFT,44.85000,82,0.41847,
7,ORB,9.16023,500,130,SIFT,49.48615,95,0.44233,
8,ORB,7.51325,500,129,SIFT,51.72273,95,0.44964,
9,ORB,7.39286,500,127,SIFT,52.72069,94,0.42772,
10,ORB,8.05103,500,128,SIFT,49.77780,94,0.46721,

1,AKAZE,85.09199,1351,166,BRISK,2.21262,0,0.00000,
2,AKAZE,72.11451,1327,157,BRISK,2.02837,137,0.45205,
3,AKAZE,68.28651,1311,161,BRISK,2.02161,125,0.48646,
4,AKAZE,72.76275,1351,155,BRISK,2.05632,129,0.49600,
5,AKAZE,66.84888,1360,163,BRISK,1.95728,129,0.48718,
6,AKAZE,67.75390,1347,164,BRISK,2.10566,131,0.57707,
7,AKAZE,67.80963,1363,173,BRISK,2.31439,132,0.54042,
8,AKAZE,80.57949,1331,175,BRISK,2.99840,142,0.52964,
9,AKAZE,75.64073,1357,177,BRISK,2.13232,146,0.52931,
10,AKAZE,73.37826,1331,179,BRISK,2.18761,144,0.59442,

1,AKAZE,83.01755,1351,166,BRIEF,1.02930,0,0.00000,
2,AKAZE,78.65357,1327,157,BRIEF,0.85190,141,0.41206,
3,AKAZE,78.09824,1311,161,BRIEF,0.92453,134,0.40544,
4,AKAZE,80.42247,1351,155,BRIEF,0.90812,131,0.44561,
5,AKAZE,73.80669,1360,163,BRIEF,0.91339,130,0.39942,
6,AKAZE,75.30377,1347,164,BRIEF,0.92512,134,0.41334,
7,AKAZE,78.32591,1363,173,BRIEF,1.02359,146,0.49496,
8,AKAZE,79.43879,1331,175,BRIEF,0.94226,150,0.52927,
9,AKAZE,82.43032,1357,177,BRIEF,1.07008,148,0.54633,
10,AKAZE,80.85568,1331,179,BRIEF,0.94128,152,0.48051,

1,AKAZE,87.54918,1351,166,ORB,4.19835,0,0.00000,
2,AKAZE,88.71501,1327,157,ORB,2.91868,131,0.42946,
3,AKAZE,75.52267,1311,161,ORB,3.19370,129,0.37696,
4,AKAZE,75.03812,1351,155,ORB,2.99945,127,0.43072,
5,AKAZE,69.47111,1360,163,ORB,3.01530,117,0.46113,
6,AKAZE,66.19834,1347,164,ORB,4.04413,130,0.46214,
7,AKAZE,77.69796,1363,173,ORB,3.05300,131,0.45987,
8,AKAZE,69.71808,1331,175,ORB,3.59186,137,0.62045,
9,AKAZE,80.65950,1357,177,ORB,4.15883,135,0.48129,
10,AKAZE,72.39236,1331,179,ORB,2.95350,145,0.50518,

1,AKAZE,77.32197,1351,166,FREAK,41.10763,0,0.00000,
2,AKAZE,76.26727,1327,157,FREAK,40.27282,126,0.49859,
3,AKAZE,76.13280,1311,161,FREAK,43.17667,129,0.45334,
4,AKAZE,82.80362,1351,155,FREAK,41.99290,127,0.45171,
5,AKAZE,73.69566,1360,163,FREAK,43.15250,121,0.49554,
6,AKAZE,76.59275,1347,164,FREAK,42.69656,122,0.54420,
7,AKAZE,77.97142,1363,173,FREAK,42.01350,133,0.47090,
8,AKAZE,65.33071,1331,175,FREAK,41.67559,144,0.58421,
9,AKAZE,74.83330,1357,177,FREAK,41.80424,147,0.55217,
10,AKAZE,81.39818,1331,179,FREAK,41.34012,138,0.51360,

1,AKAZE,76.40762,1351,166,AKAZE,61.38077,0,0.00000,
2,AKAZE,71.96431,1327,157,AKAZE,65.88437,138,0.53609,
3,AKAZE,69.17990,1311,161,AKAZE,63.71735,138,0.52659,
4,AKAZE,73.69335,1351,155,AKAZE,61.25674,133,0.51287,
5,AKAZE,71.95331,1360,163,AKAZE,62.60692,127,0.49302,
6,AKAZE,75.24259,1347,164,AKAZE,58.70995,129,0.52702,
7,AKAZE,73.60747,1363,173,AKAZE,58.92864,146,0.48955,
8,AKAZE,61.55352,1331,175,AKAZE,55.66366,147,0.57153,
9,AKAZE,73.12877,1357,177,AKAZE,57.50928,151,0.63334,
10,AKAZE,70.31603,1331,179,AKAZE,66.36175,150,0.65343,

1,AKAZE,78.54854,1351,166,SIFT,24.69110,0,0.00000,
2,AKAZE,70.75385,1327,157,SIFT,24.10866,134,0.61610,
3,AKAZE,69.55623,1311,161,SIFT,23.38768,134,0.60309,
4,AKAZE,70.43235,1351,155,SIFT,22.97249,130,0.66639,
5,AKAZE,69.09343,1360,163,SIFT,23.51896,136,0.59686,
6,AKAZE,73.59733,1347,164,SIFT,24.78835,137,0.62639,
7,AKAZE,73.00314,1363,173,SIFT,25.39393,147,1.06817,
8,AKAZE,69.60004,1331,175,SIFT,28.02201,147,0.76373,
9,AKAZE,71.80062,1357,177,SIFT,28.61502,154,0.92408,
10,AKAZE,72.80799,1331,179,SIFT,28.78361,151,0.88204,

1,SIFT,128.55787,1438,138,BRISK,1.72970,0,0.00000,
2,SIFT,106.51048,1371,132,BRISK,1.67690,64,0.38156,
3,SIFT,129.24177,1380,124,BRISK,1.50741,66,0.33032,
4,SIFT,129.24051,1335,137,BRISK,1.67888,62,0.38146,
5,SIFT,130.04947,1305,134,BRISK,1.60417,66,0.36998,
6,SIFT,128.82725,1370,140,BRISK,1.81841,59,0.40272,
7,SIFT,124.93188,1396,137,BRISK,1.55344,64,0.38085,
8,SIFT,127.63833,1382,148,BRISK,1.79290,64,0.41210,
9,SIFT,131.89741,1463,159,BRISK,1.94420,67,0.41684,
10,SIFT,124.89480,1422,137,BRISK,1.53452,80,0.49963,

1,SIFT,124.87219,1438,138,BRIEF,0.73947,0,0.00000,
2,SIFT,123.54439,1371,132,BRIEF,0.75604,86,0.30061,
3,SIFT,127.63379,1380,124,BRIEF,0.78781,78,0.30399,
4,SIFT,129.64807,1335,137,BRIEF,0.81320,76,0.31525,
5,SIFT,126.63420,1305,134,BRIEF,0.74545,85,0.31312,
6,SIFT,123.65779,1370,140,BRIEF,0.80948,69,0.31380,
7,SIFT,130.40816,1396,137,BRIEF,0.76290,74,0.32290,
8,SIFT,129.47705,1382,148,BRIEF,0.83459,76,0.33721,
9,SIFT,125.67480,1463,159,BRIEF,0.91174,70,0.39642,
10,SIFT,130.21242,1422,137,BRIEF,0.76767,88,0.35076,

1,SIFT,0.00000,0,0,ORB,0.00000,0,0.00000,
2,SIFT,0.00000,0,0,ORB,0.00000,0,0.00000,
3,SIFT,0.00000,0,0,ORB,0.00000,0,0.00000,
4,SIFT,0.00000,0,0,ORB,0.00000,0,0.00000,
5,SIFT,0.00000,0,0,ORB,0.00000,0,0.00000,
6,SIFT,0.00000,0,0,ORB,0.00000,0,0.00000,
7,SIFT,0.00000,0,0,ORB,0.00000,0,0.00000,
8,SIFT,0.00000,0,0,ORB,0.00000,0,0.00000,
9,SIFT,0.00000,0,0,ORB,0.00000,0,0.00000,
10,SIFT,0.00000,0,0,ORB,0.00000,0,0.00000,

1,SIFT,124.35403,1438,138,FREAK,42.79849,0,0.00000,
2,SIFT,123.11715,1371,132,FREAK,39.59493,65,0.35412,
3,SIFT,126.16255,1380,124,FREAK,40.03391,72,0.31775,
4,SIFT,129.87387,1335,137,FREAK,41.65418,64,0.31549,
5,SIFT,128.39071,1305,134,FREAK,41.92476,66,0.39889,
6,SIFT,127.59233,1370,140,FREAK,40.01806,59,0.37686,
7,SIFT,121.94608,1396,137,FREAK,40.01731,59,0.32414,
8,SIFT,125.11668,1382,148,FREAK,41.09943,64,0.35910,
9,SIFT,123.77191,1463,159,FREAK,41.28015,65,0.38919,
10,SIFT,127.28379,1422,137,FREAK,40.31092,79,0.36664,

1,SIFT,0.00000,0,0,AKAZE,0.00000,0,0.00000,
2,SIFT,0.00000,0,0,AKAZE,0.00000,0,0.00000,
3,SIFT,0.00000,0,0,AKAZE,0.00000,0,0.00000,
4,SIFT,0.00000,0,0,AKAZE,0.00000,0,0.00000,
5,SIFT,0.00000,0,0,AKAZE,0.00000,0,0.00000,
6,SIFT,0.00000,0,0,AKAZE,0.00000,0,0.00000,
7,SIFT,0.00000,0,0,AKAZE,0.00000,0,0.00000,
8,SIFT,0.00000,0,0,AKAZE,0.00000,0,0.00000,
9,SIFT,0.00000,0,0,AKAZE,0.00000,0,0.00000,
10,SIFT,0.00000,0,0,AKAZE,0.00000,0,0.00000,

1,SIFT,125.99861,1438,138,SIFT,82.27489,0,0.00000,
2,SIFT,100.16686,1371,132,SIFT,76.52121,82,0.48637,
3,SIFT,102.47365,1380,124,SIFT,85.88324,81,0.45374,
4,SIFT,128.09605,1335,137,SIFT,78.25460,85,0.48829,
5,SIFT,97.02931,1305,134,SIFT,81.47163,93,0.50258,
6,SIFT,101.57736,1370,140,SIFT,81.29365,90,0.55305,
7,SIFT,98.18626,1396,137,SIFT,78.90483,81,0.55889,
8,SIFT,102.66789,1382,148,SIFT,76.13172,82,0.58809,
9,SIFT,126.91894,1463,159,SIFT,77.19371,102,0.59411,
10,SIFT,99.76143,1422,137,SIFT,77.98166,104,0.55990,