Heritage Science

Table 3 The number of all tie points used in the full bundle adjustment and points for cases for which full bundle adjustment was impossible (marked with a cross)

From: The evaluation of hand-crafted and learned-based features in Terrestrial Laser Scanning-Structure-from-Motion (TLS-SfM) indoor point cloud registration: the case study of cultural heritage objects and public interiors

Detector	Test Site I	Test Site II	Test Site III	Test Site IV	Test Site V	Test Site VI
AFAST	70,977	108,218	5144	146,662	37,215	877
ASIFT	60,308	123,808	3392	106,386	14,597	496
ASURF	27,871	92,659	1184	128.360	13,290	648
SuperGlue	3024	6518	1916	15,796	8268	1264^x
LoFTR	3295	1359	293^x	16,907	324^x	0
KeyNetAffine	2726	7682	1838	6938	7387	176^x

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