A SIFT-Like Feature Detector and Descriptor for Multibeam Sonar Imaging

Table 1

Running time (in seconds) for feature detection and description.

LoG-Harris detector+SIFT descriptor	LoG-Harris detector+ratio descriptor	MBS-Harris detector+SIFT descriptor	MBS-Harris detector+ratio descriptor
0.4881	0.4219	0.3613	0.3084