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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