Table 2 Processing time of the correction process FBs on the main processor (ARM)
From: Real time simultaneous localization and mapping: towards low-cost multiprocessor embedded systems
Functional block (FB) | Processing time per iteration (μs) | Mean of the number of iterations per correction process | Mean of the processing time per correctionprocess (μs) |
|---|---|---|---|
2. FAST | 3400 | 1 | 3400 |
3. Landmark projection | 9 | 19 | 180 |
4. ZMSSD-M | 11.29 | 233 | 2630 |
5. H i | 14.5 | 4.5 | 66 |
6. Estimation | 88845 | 0.8 | 70568 |
7. ZMSSD-I | 11.29 | 123 | 1388 |
8. Weight updating | 638 | 4.0 | 2586 |
9. Addition of a new landmark | 103 | 0.18 | 18 |