Official RTAB-Map Forum - Re: Bag of Binary Words VS RTABMap

Re: Bag of Binary Words VS RTABMap

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Bag-of-Binary-Words-VS-RTABMap-tp2335p2347.html

Hi,

not sure how you got the timings for RTAB-Map, but if I do a simple test with the images used for demo_surf in DLoopDetector project, I got DBoW2 42 ms/image and RTAB-Map 35 ms/image (using both SURF64). Note however that on larger datasets, RTAB-Map would have an average time higher than DBOW because it uses an incremental vocabulary. An incremental vocabulary requires an extra step to update its structure as new visual words are added. This would be the biggest difference in timings between the two approaches. An incremental vocabulary and a fixed vocabulary have both advantages and disadvantages.

Here is what I did:

$ git clone https://github.com/dorian3d/DLoopDetector.git
$ cd DLoopDetector
$ mkdir build
$ cd build
$ cmake -DBUILD_DemoBRIEF=ON -DBUILD_DemoSURF=ON ..

DBoW2:

$ ./demo_surf 
DLoopDetector Demo
Dorian Galvez-Lopez
http://doriangalvez.com

Loading SURF64 vocabulary...
Processing sequence...
Adding image 0: ./resources/images/SVS_L_1235603737.305831.png... 
init done
- No loop: All the images in the database are very recent

Adding image 1: ./resources/images/SVS_L_1235603738.305924.png... 
- No loop: All the images in the database are very recent

Adding image 2: ./resources/images/SVS_L_1235603739.306133.png... 
- No loop: All the images in the database are very recent

Adding image 3: ./resources/images/SVS_L_1235603740.306344.png... 
- No loop: All the images in the database are very recent

Adding image 4: ./resources/images/SVS_L_1235603741.306427.png... 
- No loop: All the images in the database are very recent

Adding image 5: ./resources/images/SVS_L_1235603742.306720.png... 
- No loop: All the images in the database are very recent

Adding image 6: ./resources/images/SVS_L_1235603743.306852.png... 
- No loop: All the images in the database are very recent

Adding image 7: ./resources/images/SVS_L_1235603744.306946.png... 
- No loop: All the images in the database are very recent

Adding image 8: ./resources/images/SVS_L_1235603745.307141.png... 
- No loop: All the images in the database are very recent

Adding image 9: ./resources/images/SVS_L_1235603746.307355.png... 
- No loop: All the images in the database are very recent

Adding image 10: ./resources/images/SVS_L_1235603747.307446.png... 
- No loop: All the images in the database are very recent

Adding image 11: ./resources/images/SVS_L_1235603748.307648.png... 
- No loop: All the images in the database are very recent

Adding image 12: ./resources/images/SVS_L_1235603749.307869.png... 
- No loop: All the images in the database are very recent

Adding image 13: ./resources/images/SVS_L_1235603750.308080.png... 
- No loop: All the images in the database are very recent

Adding image 14: ./resources/images/SVS_L_1235603751.308135.png... 
- No loop: All the images in the database are very recent

Adding image 15: ./resources/images/SVS_L_1235603752.308376.png... 
- No loop: All the images in the database are very recent

Adding image 16: ./resources/images/SVS_L_1235603753.308589.png... 
- No loop: All the images in the database are very recent

Adding image 17: ./resources/images/SVS_L_1235603754.308666.png... 
- No loop: All the images in the database are very recent

Adding image 18: ./resources/images/SVS_L_1235603755.308885.png... 
- No loop: All the images in the database are very recent

Adding image 19: ./resources/images/SVS_L_1235603756.309106.png... 
- No loop: All the images in the database are very recent

Adding image 20: ./resources/images/SVS_L_1235603757.309189.png... 
- No loop: All the images in the database are very recent

Adding image 21: ./resources/images/SVS_L_1235603758.309390.png... 
- No loop: No match reaches the score threshold (alpha: 0.3)

Adding image 22: ./resources/images/SVS_L_1235603759.309609.png... 
- No loop: No match reaches the score threshold (alpha: 0.3)

Adding image 23: ./resources/images/SVS_L_1235603760.309697.png... 
- No loop: No match reaches the score threshold (alpha: 0.3)

Adding image 24: ./resources/images/SVS_L_1235603761.309911.png... 
- No loop: No match reaches the score threshold (alpha: 0.3)

Adding image 25: ./resources/images/SVS_L_1235603762.310118.png... 
- No loop: No match reaches the score threshold (alpha: 0.3)

Adding image 26: ./resources/images/SVS_L_1235603763.310198.png... 
- No loop: No match reaches the score threshold (alpha: 0.3)

Adding image 27: ./resources/images/SVS_L_1235603764.310405.png... 
- No loop: No match reaches the score threshold (alpha: 0.3)

Adding image 28: ./resources/images/SVS_L_1235603765.310624.png... 
- No loop: No match reaches the score threshold (alpha: 0.3)

Adding image 29: ./resources/images/SVS_L_1235603766.310829.png... 
- No loop: No match reaches the score threshold (alpha: 0.3)

Adding image 30: ./resources/images/SVS_L_1235603767.310899.png... 
- No loop: No match reaches the score threshold (alpha: 0.3)

Adding image 31: ./resources/images/SVS_L_1235603768.311120.png... 
- No loop: No match reaches the score threshold (alpha: 0.3)

Adding image 32: ./resources/images/SVS_L_1235603769.311337.png... 
- No loop: No match reaches the score threshold (alpha: 0.3)

Adding image 33: ./resources/images/SVS_L_1235603770.311422.png... 
- No loop: No match reaches the score threshold (alpha: 0.3)

Adding image 34: ./resources/images/SVS_L_1235603771.311645.png... 
- No loop: No match reaches the score threshold (alpha: 0.3)

Adding image 35: ./resources/images/SVS_L_1235603772.311858.png... 
- No loop: No match reaches the score threshold (alpha: 0.3)

Adding image 36: ./resources/images/SVS_L_1235603773.311942.png... 
- No loop: No match reaches the score threshold (alpha: 0.3)

Adding image 37: ./resources/images/SVS_L_1235603774.312146.png... 
- No loop: No match reaches the score threshold (alpha: 0.3)

Adding image 38: ./resources/images/SVS_L_1235603775.312361.png... 
- No loop: No match reaches the score threshold (alpha: 0.3)

Adding image 39: ./resources/images/SVS_L_1235603776.312452.png... 
- No loop: No match reaches the score threshold (alpha: 0.3)

Adding image 40: ./resources/images/SVS_L_1235603777.312724.png... 
- No loop: No match reaches the score threshold (alpha: 0.3)

Adding image 41: ./resources/images/SVS_L_1235603778.312878.png... 
- No loop: No match reaches the score threshold (alpha: 0.3)

Adding image 42: ./resources/images/SVS_L_1235603779.312970.png... 
- No loop: No match reaches the score threshold (alpha: 0.3)

Adding image 43: ./resources/images/SVS_L_1235603780.313174.png... 
- No loop: No match reaches the score threshold (alpha: 0.3)

Adding image 44: ./resources/images/SVS_L_1235603781.313381.png... 
- No loop: No match reaches the score threshold (alpha: 0.3)

Adding image 45: ./resources/images/SVS_L_1235603782.313599.png... 
- No loop: No match reaches the score threshold (alpha: 0.3)

Adding image 46: ./resources/images/SVS_L_1235603783.313738.png... 
- No loop: No match reaches the score threshold (alpha: 0.3)

Adding image 47: ./resources/images/SVS_L_1235603784.313889.png... 
- No loop: No match reaches the score threshold (alpha: 0.3)

Adding image 48: ./resources/images/SVS_L_1235603785.314103.png... 
- No loop: No match reaches the score threshold (alpha: 0.3)

Adding image 49: ./resources/images/SVS_L_1235603786.314192.png... 
- No loop: No match reaches the score threshold (alpha: 0.3)

Adding image 50: ./resources/images/SVS_L_1235603787.314396.png... 
- No loop: No match reaches the score threshold (alpha: 0.3)

Adding image 51: ./resources/images/SVS_L_1235603788.314623.png... 
- No loop: No match reaches the score threshold (alpha: 0.3)

Adding image 52: ./resources/images/SVS_L_1235603789.314708.png... 
- No loop: There are no matches against the database (few features in the image?)

Adding image 53: ./resources/images/SVS_L_1235603790.314914.png... 
- No loop: There are no matches against the database (few features in the image?)

Adding image 54: ./resources/images/SVS_L_1235603791.315129.png... 
- No loop: There are no matches against the database (few features in the image?)

Adding image 55: ./resources/images/SVS_L_1235603792.315219.png... 
- No loop: There are no matches against the database (few features in the image?)

Adding image 56: ./resources/images/SVS_L_1235603793.315570.png... 
- No loop: There are no matches against the database (few features in the image?)

Adding image 57: ./resources/images/SVS_L_1235603794.315630.png... 
- No loop: There are no matches against the database (few features in the image?)

Adding image 58: ./resources/images/SVS_L_1235603795.315718.png... 
- No loop: There are no matches against the database (few features in the image?)

Adding image 59: ./resources/images/SVS_L_1235603796.315938.png... 
- No loop: There are no matches against the database (few features in the image?)

Adding image 60: ./resources/images/SVS_L_1235603797.316140.png... 
- No loop: There are no matches against the database (few features in the image?)

Adding image 61: ./resources/images/SVS_L_1235603798.316361.png... 
- No loop: There are no matches against the database (few features in the image?)

Adding image 62: ./resources/images/SVS_L_1235603799.316437.png... 
- No loop: There are no matches against the database (few features in the image?)

Adding image 63: ./resources/images/SVS_L_1235603800.316655.png... 
- No loop: There are no matches against the database (few features in the image?)

Adding image 64: ./resources/images/SVS_L_1235603801.316861.png... 
- No loop: No match reaches the score threshold (alpha: 0.3)

Adding image 65: ./resources/images/SVS_L_1235603802.316961.png... 
- No loop: There are no matches against the database (few features in the image?)

Adding image 66: ./resources/images/SVS_L_1235603803.317164.png... 
- No loop: No match reaches the score threshold (alpha: 0.3)

Adding image 67: ./resources/images/SVS_L_1235603804.317369.png... 
- No loop: No match reaches the score threshold (alpha: 0.3)

Adding image 68: ./resources/images/SVS_L_1235603805.317472.png... 
- No loop: No match reaches the score threshold (alpha: 0.3)

Adding image 69: ./resources/images/SVS_L_1235603806.317687.png... 
- No loop: No match reaches the score threshold (alpha: 0.3)

Adding image 70: ./resources/images/SVS_L_1235603807.317879.png... 
- No loop: No match reaches the score threshold (alpha: 0.3)

Adding image 71: ./resources/images/SVS_L_1235603808.317972.png... 
- No loop: No match reaches the score threshold (alpha: 0.3)

Adding image 72: ./resources/images/SVS_L_1235603809.318188.png... 
- No loop: No match reaches the score threshold (alpha: 0.3)

Adding image 73: ./resources/images/SVS_L_1235603810.318390.png... 
- No loop: No match reaches the score threshold (alpha: 0.3)

Adding image 74: ./resources/images/SVS_L_1235603811.318481.png... 
- No loop: No match reaches the score threshold (alpha: 0.3)

Adding image 75: ./resources/images/SVS_L_1235603812.318701.png... 
- No loop: No match reaches the score threshold (alpha: 0.3)

Adding image 76: ./resources/images/SVS_L_1235603813.318902.png... 
- No loop: No match reaches the score threshold (alpha: 0.3)

Adding image 77: ./resources/images/SVS_L_1235603814.319117.png... 
- No loop: No match reaches the score threshold (alpha: 0.3)

Adding image 78: ./resources/images/SVS_L_1235603815.319201.png... 
- No loop: No match reaches the score threshold (alpha: 0.3)

Adding image 79: ./resources/images/SVS_L_1235603816.319409.png... 
- No loop: No match reaches the score threshold (alpha: 0.3)

Adding image 80: ./resources/images/SVS_L_1235603817.319623.png... 
- No loop: No match reaches the score threshold (alpha: 0.3)

Adding image 81: ./resources/images/SVS_L_1235603818.319715.png... 
- No loop: No match reaches the score threshold (alpha: 0.3)

Adding image 82: ./resources/images/SVS_L_1235603819.319925.png... 
- No loop: No match reaches the score threshold (alpha: 0.3)

Adding image 83: ./resources/images/SVS_L_1235603820.320149.png... 
- No loop: No match reaches the score threshold (alpha: 0.3)

Adding image 84: ./resources/images/SVS_L_1235603821.320219.png... 
- No loop: No match reaches the score threshold (alpha: 0.3)

Adding image 85: ./resources/images/SVS_L_1235603822.320438.png... 
- No loop: No match reaches the score threshold (alpha: 0.3)

Adding image 86: ./resources/images/SVS_L_1235603823.320648.png... 
- No loop: No match reaches the score threshold (alpha: 0.3)

Adding image 87: ./resources/images/SVS_L_1235603824.320733.png... 
- No loop: No match reaches the score threshold (alpha: 0.3)

Adding image 88: ./resources/images/SVS_L_1235603825.320943.png... 
- No loop: No match reaches the score threshold (alpha: 0.3)

Adding image 89: ./resources/images/SVS_L_1235603826.321150.png... 
- No loop: No match reaches the score threshold (alpha: 0.3)

Adding image 90: ./resources/images/SVS_L_1235603827.321243.png... 
- No loop: No match reaches the score threshold (alpha: 0.3)

Adding image 91: ./resources/images/SVS_L_1235603828.321453.png... 
- No loop: No match reaches the score threshold (alpha: 0.3)

Adding image 92: ./resources/images/SVS_L_1235603829.321674.png... 
- No loop: No match reaches the score threshold (alpha: 0.3)

Adding image 93: ./resources/images/SVS_L_1235603830.321875.png... 
- No loop: No match reaches the score threshold (alpha: 0.3)

Adding image 94: ./resources/images/SVS_L_1235603831.321962.png... 
- No loop: No match reaches the score threshold (alpha: 0.3)

Adding image 95: ./resources/images/SVS_L_1235603832.322186.png... 
- No loop: No match reaches the score threshold (alpha: 0.3)

Adding image 96: ./resources/images/SVS_L_1235603833.322391.png... 
- No loop: No match reaches the score threshold (alpha: 0.3)

Adding image 97: ./resources/images/SVS_L_1235603834.322471.png... 
- No loop: No match reaches the score threshold (alpha: 0.3)

Adding image 98: ./resources/images/SVS_L_1235603835.322692.png... 
- No loop: No match reaches the score threshold (alpha: 0.3)

Adding image 99: ./resources/images/SVS_L_1235603836.322902.png... 
- No loop: No match reaches the score threshold (alpha: 0.3)

Adding image 100: ./resources/images/SVS_L_1235603837.322975.png... 
- No loop: No match reaches the score threshold (alpha: 0.3)

Adding image 101: ./resources/images/SVS_L_1235603838.323210.png... 
- No loop: No match reaches the score threshold (alpha: 0.3)

Adding image 102: ./resources/images/SVS_L_1235603839.323398.png... 
- No loop: No match reaches the score threshold (alpha: 0.3)

Adding image 103: ./resources/images/SVS_L_1235603840.323492.png... 
- No loop: No match reaches the score threshold (alpha: 0.3)

Adding image 104: ./resources/images/SVS_L_1235603841.323705.png... 
- No loop: No match reaches the score threshold (alpha: 0.3)

Adding image 105: ./resources/images/SVS_L_1235603842.323925.png... 
- No loop: No match reaches the score threshold (alpha: 0.3)

Adding image 106: ./resources/images/SVS_L_1235603843.324006.png... 
- No loop: No match reaches the score threshold (alpha: 0.3)

Adding image 107: ./resources/images/SVS_L_1235603844.324212.png... 
- No loop: No match reaches the score threshold (alpha: 0.3)

Adding image 108: ./resources/images/SVS_L_1235603845.324433.png... 
- No loop: No match reaches the score threshold (alpha: 0.3)

Adding image 109: ./resources/images/SVS_L_1235603846.324632.png... 
- No loop: No match reaches the score threshold (alpha: 0.3)

Adding image 110: ./resources/images/SVS_L_1235603847.324724.png... 
- No loop: No match reaches the score threshold (alpha: 0.3)

Adding image 111: ./resources/images/SVS_L_1235603848.324957.png... 
- No loop: No match reaches the score threshold (alpha: 0.3)

Adding image 112: ./resources/images/SVS_L_1235603849.325145.png... 
- No loop: No match reaches the score threshold (alpha: 0.3)

Adding image 113: ./resources/images/SVS_L_1235603850.325235.png... 
- No loop: No match reaches the score threshold (alpha: 0.3)

Adding image 114: ./resources/images/SVS_L_1235603851.325447.png... 
- No loop: No match reaches the score threshold (alpha: 0.3)

Adding image 115: ./resources/images/SVS_L_1235603852.325673.png... 
- No loop: No match reaches the score threshold (alpha: 0.3)

Adding image 116: ./resources/images/SVS_L_1235603853.325753.png... 
- No loop: No temporal consistency (k: 1). Best candidate: 6

Adding image 117: ./resources/images/SVS_L_1235603854.325965.png... 
- Loop found with image 6!

Adding image 118: ./resources/images/SVS_L_1235603855.326169.png... 
- Loop found with image 8!

Adding image 119: ./resources/images/SVS_L_1235603856.326246.png... 
- Loop found with image 11!

Adding image 120: ./resources/images/SVS_L_1235603857.326471.png... 
- Loop found with image 14!

Adding image 121: ./resources/images/SVS_L_1235603858.326685.png... 
- Loop found with image 14!

Adding image 122: ./resources/images/SVS_L_1235603859.326756.png... 
- Loop found with image 16!

6 loops found in this image sequence!

Execution time:
 - Feature computation: 39.2444 ms/image
 - Loop detection: 3.09127 ms/image

RTAB-Map (with parameters from Benchmark wiki page, without "-Kp/IncrementalFlann false" but with "-DbSqlite3/InMemory true -Mem/BinDataKept false" to avoid hard-drive and image compression overhead):

$ rtabmap-console -Rtabmap/StatisticLogged true -Rtabmap/StatisticLoggedHeaders false -Rtabmap/PublishStats false -Mem/RehearsalIdUpdatedToNewOne true -Bayes/FullPredictionUpdate true -Kp/TfIdfLikelihoodUsed false -Mem/STMSize 30 -Kp/MaxFeatures 400 -Kp/BadSignRatio 0.25 -Rtabmap/TimeThr 700 -Kp/DetectorStrategy 0 -DbSqlite3/InMemory true -Mem/BinDataKept false resources/images 

Deleted database "rtabmapconsole.db".
rtabmap init time = 0.087043s

Parameters : 
 Data set : resources/images
 Time threshold = 700.00 ms
 Image rate = 0.00 s (inf Hz)
 Repeating data set = false
 Camera starts at image 0 (default 1)
 INFO: All other parameters are set to defaults
   Overwritten parameters :
    Bayes/FullPredictionUpdate=true
    DbSqlite3/InMemory=true
    Kp/BadSignRatio=0.25
    Kp/DetectorStrategy=0
    Kp/MaxFeatures=400
    Kp/TfIdfLikelihoodUsed=false
    Mem/BinDataKept=false
    Mem/RehearsalIdUpdatedToNewOne=true
    Mem/STMSize=30
    RGBD/Enabled=false
    Rtabmap/PublishStats=false
    Rtabmap/StatisticLogged=true
    Rtabmap/StatisticLoggedHeaders=false
    Rtabmap/TimeThr=700
    Rtabmap/WorkingDirectory=.

Processing images...
 iteration(1) time=0.034429s/0.040767s
 iteration(2) time=0.036473s/0.042607s
 iteration(3) time=0.036903s/0.042962s
 iteration(4) time=0.036776s/0.042939s
 iteration(5) time=0.037535s/0.043495s
 iteration(6) time=0.038713s/0.044671s
 iteration(7) time=0.037774s/0.043983s
 iteration(8) time=0.040416s/0.046509s
 iteration(9) time=0.042959s/0.049009s
 iteration(10) time=0.039085s/0.045172s
 iteration(11) time=0.040853s/0.046842s
 iteration(12) time=0.041029s/0.047510s
 iteration(13) time=0.039403s/0.045573s
 iteration(14) time=0.042311s/0.048499s
 iteration(15) time=0.041133s/0.047189s
 iteration(16) time=0.040704s/0.046874s
 iteration(17) time=0.036573s/0.042562s
 iteration(18) time=0.038013s/0.043993s
 iteration(19) time=0.037248s/0.043298s
 iteration(20) time=0.037032s/0.043324s
 iteration(21) time=0.037158s/0.043318s
 iteration(22) time=0.038625s/0.044681s
 iteration(23) time=0.038177s/0.044433s
 iteration(24) time=0.040527s/0.046894s
 iteration(25) time=0.042014s/0.048307s
 iteration(26) time=0.042459s/0.048756s
 iteration(27) time=0.041656s/0.047844s
 iteration(28) time=0.040043s/0.046053s
 iteration(29) time=0.044147s/0.050153s
 iteration(30) time=0.036045s/0.041924s
 iteration(31) time=0.038882s/0.044727s
 iteration(32) time=0.033945s/0.039831s
 iteration(33) time=0.034621s/0.040422s
 iteration(34) time=0.032961s/0.038921s
 iteration(35) time=0.033332s/0.039181s
 iteration(36) time=0.030589s/0.036416s
 iteration(37) high(1) hyp(0.05) time=0.028684s/0.034424s
 iteration(38) high(1) hyp(0.08) time=0.029477s/0.035873s
 iteration(39) high(1) hyp(0.09) time=0.024527s/0.030314s
 iteration(40) high(1) hyp(0.09) time=0.025643s/0.031210s
 iteration(41) high(2) hyp(0.10) time=0.024698s/0.030170s
 iteration(42) high(2) hyp(0.10) time=0.024885s/0.030311s
 iteration(43) high(2) hyp(0.10) time=0.022707s/0.028182s
 iteration(44) time=0.021630s/0.027275s
 iteration(45) time=0.020828s/0.026164s
 iteration(46) time=0.021785s/0.027207s
 iteration(47) time=0.020345s/0.025698s
 iteration(48) time=0.019744s/0.025131s
 iteration(49) time=0.018255s/0.024137s
 iteration(50) time=0.016570s/0.022157s
 iteration(51) time=0.015985s/0.021336s
 iteration(52) time=0.014813s/0.020440s
 iteration(53) time=0.016783s/0.022088s
 iteration(54) time=0.015142s/0.020458s
 iteration(55) time=0.015070s/0.020410s
 iteration(56) time=0.014813s/0.020282s
 iteration(57) time=0.014685s/0.020200s
 iteration(58) time=0.014644s/0.021972s
 iteration(59) time=0.015031s/0.020289s
 iteration(60) time=0.014311s/0.019880s
 iteration(61) time=0.014146s/0.019535s
 iteration(62) time=0.014990s/0.020449s
 iteration(63) time=0.014740s/0.020132s
 iteration(64) time=0.015159s/0.020659s
 iteration(65) time=0.017863s/0.023442s
 iteration(66) time=0.014969s/0.020597s
 iteration(67) time=0.016802s/0.022445s
 iteration(68) high(3) hyp(0.07) time=0.022321s/0.028072s
 iteration(69) high(3) hyp(0.06) time=0.029576s/0.035370s
 iteration(70) high(31) hyp(0.05) time=0.035088s/0.040870s
 iteration(71) high(31) hyp(0.05) time=0.035115s/0.041035s
 iteration(72) high(31) hyp(0.05) time=0.035857s/0.041638s
 iteration(73) high(31) hyp(0.05) time=0.033723s/0.039499s
 iteration(74) high(31) hyp(0.05) time=0.032711s/0.038728s
 iteration(75) high(31) hyp(0.05) time=0.030897s/0.036840s
 iteration(76) high(31) hyp(0.06) time=0.032828s/0.038716s
 iteration(77) high(10) hyp(0.06) time=0.032117s/0.037939s
 iteration(78) high(10) hyp(0.06) time=0.034064s/0.040006s
 iteration(79) high(9) hyp(0.05) time=0.033714s/0.039483s
 iteration(80) high(13) hyp(0.05) time=0.034270s/0.040128s
 iteration(81) high(26) hyp(0.06) time=0.032865s/0.038694s
 iteration(82) high(26) hyp(0.07) time=0.035096s/0.041020s
 iteration(83) high(23) hyp(0.08) time=0.037884s/0.043733s
 iteration(84) high(23) hyp(0.08) time=0.039954s/0.045840s
 iteration(85) high(27) hyp(0.07) time=0.038993s/0.044974s
 iteration(86) high(27) hyp(0.06) time=0.040513s/0.046547s
 iteration(87) high(26) hyp(0.06) time=0.042246s/0.048193s
 iteration(88) high(26) hyp(0.05) time=0.041371s/0.047382s
 iteration(89) high(29) hyp(0.06) time=0.047496s/0.056704s
 iteration(90) high(29) hyp(0.06) time=0.049369s/0.055795s
 iteration(91) high(29) hyp(0.07) time=0.044865s/0.051047s
 iteration(92) high(29) hyp(0.07) time=0.046168s/0.052379s
 iteration(93) high(26) hyp(0.08) time=0.045468s/0.051599s
 iteration(94) high(27) hyp(0.07) time=0.045179s/0.051669s
 iteration(95) high(27) hyp(0.07) time=0.043788s/0.049997s
 iteration(96) high(23) hyp(0.07) time=0.046014s/0.052097s
 iteration(97) high(26) hyp(0.09) time=0.050375s/0.059391s
 iteration(98) high(26) hyp(0.10) time=0.050510s/0.056783s
 iteration(99) high(27) hyp(0.09) time=0.049879s/0.056081s
 count = 100, loop closures = 0, max time (at 98) = 0.050510s
 WM(51)=[1,0;2,0;3,0;4,0;5,0;6,0;8,1;9,0;10,0;11,0;12,0;13,0;14,0;15,0;16,0;17,0;21,3;22,0;23,0;26,2;27,0;28,0;29,0;30,0;31,0;32,0;33,0;34,0;35,0;36,0;38,1;39,0;40,0;41,0;42,0;43,0;44,0;45,0;46,0;47,0;48,0;49,0;50,0;51,0;52,0;53,0;54,0;55,0;56,0;57,0;58,0]
 iteration(100) high(27) hyp(0.07) time=0.047779s/0.054191s
 iteration(101) high(27) hyp(0.06) time=0.047176s/0.053551s
 iteration(102) high(29) hyp(0.06) time=0.046074s/0.052227s
 iteration(103) high(12) hyp(0.06) time=0.043659s/0.049968s
 iteration(104) high(12) hyp(0.06) time=0.043419s/0.049656s
 iteration(105) high(23) hyp(0.06) time=0.039558s/0.045668s
 iteration(106) high(23) hyp(0.06) time=0.042123s/0.048163s
 iteration(107) high(14) hyp(0.06) time=0.042651s/0.048659s
 iteration(108) high(21) hyp(0.05) time=0.043605s/0.049755s
 iteration(109) high(23) hyp(0.07) time=0.044311s/0.050304s
 iteration(110) high(21) hyp(0.07) time=0.046718s/0.052783s
 iteration(111) high(21) hyp(0.07) time=0.047965s/0.054044s
 iteration(112) high(17) hyp(0.07) time=0.049063s/0.055083s
 iteration(113) high(13) hyp(0.06) time=0.051197s/0.057300s
 iteration(114) high(4) hyp(0.07) time=0.053587s/0.059971s
 iteration(115) high(14) hyp(0.07) time=0.051314s/0.060210s
 iteration(116) high(15) hyp(0.08) time=0.046062s/0.052490s
 iteration(117) high(8) hyp(0.10) time=0.044617s/0.050828s
 iteration(118) loop(8) hyp(0.12) time=0.044810s/0.050978s *
 iteration(119) loop(9) hyp(0.13) time=0.047269s/0.053330s *
 iteration(120) loop(12) hyp(0.14) time=0.046801s/0.053018s *
 iteration(121) loop(13) hyp(0.16) time=0.048430s/0.054469s *
 iteration(122) loop(15) hyp(0.19) time=0.044056s/0.050304s *
 iteration(123) loop(17) hyp(0.25) time=0.037873s/0.037921s *
Processing images completed. Loop closures found = 6
 Total time = 5.055005s
 Cleanup time = 2.295741s
Database ("rtabmapconsole.db") and log files saved to current directory.

Using showlogs.m (see Benchmark page) to compute the average processing time with the output files LogF.txt and LogI.txt, this gives (with MatLab or Octave):

$ showlogs;

Loading log files...

meanTime =  34.792
maxTime =  0.053211
maxDict =  8056
maxWM =  71
LTM =  100
meanWM =  26.512
meanDict =  4071.1
meanWordsPerSign =  284.14

cheers,
Mathieu