Fig. 11
From: FIMD: fast isolated marker detection for UV-based visual relative localisation in agile UAV swarms
Mean duration of internal sensor delays, data transfers, and processing times for the UIMD approach and for the FPGA. Black arrows indicate how the total duration on the two platforms is obtained. The sensor exposure time related to the dataset (black bar) is followed by an additional in-sensor delay (red bar). The mean CPU processing time is shown for all dataset images producing no detection results, and the maximum number of detection results (dark and light blue bars, (Color figure online)