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Table 4 FBs processing times on ARM, NEON and DSP processors

From: Real time simultaneous localization and mapping: towards low-cost multiprocessor embedded systems

Functional bloc (FB) Nonoptimized implementation (μ s) ARM only Optimized implementation (μs)
Processing time per iteration Mean processing time per frame Processing time per iteration Mean processing time per frame Processing unit
Functional bloc (FB) Processing timeper iteration Mean processingtime per frame Processing timeper iteration Mean processingtime per frame Processing unit
1. Prediction 93 93 93 93 ARM
2. FAST 3400 3400 3400 3400 ARM
3. Landmark projection 9 180 9 180 ARM
4. ZMSSD-M 11.29 2630 1.27 295 NEON
5. H i 14.5 66 14.5 66 ARM
6. Estimation 88845 70568 15690 12552 NEON
Initialization task (FB7, 8 and 9) 3992 3922 4025 4025 DSP
Total 80859 16586