Fig. 5From: Towards efficient mobile image-guided navigation through removal of outliersEvaluation results associated with the models. (i) Original model before outlier removal and the models after (ii) density-based, (iii) connectivity-based, and (iv) distance-based methods applied. Average matching time is the average of T mj returned by each jth test case; average file size—the average of all S mj . Average error of localization is the average of all E j defined by Eq. (8), and average weighted error is the average of all E wj defined by Eq. (9)Back to article page