Robust Keypoint Detection and Matching on Fisheye Images by Self-Supervised Learning

Table 7

Feature detection and description time of compared keypoint models. Superscript denotes utilization of GPU.

Model	SIFT	SURF	ORB	BRISK	KAZE	AKAZE	Ours
Time (s)	0.2	0.18	0.06	0.27	0.4	0.072	0.022