Table 2 Mean of processing times of functional blocks on Rawseeds dataset
From: Large-scale monocular FastSLAM2.0 acceleration on an embedded heterogeneous architecture
Functional blocks (FBs) | Mean of processing time per one occurrence \(\phantom {\dot {i}\!}t_{\text {FB}_{\text {x}}}\) (ms) | MOTS | Mean of processing times \(\phantom {\dot {i}\!}t_{\text {FB}_{\text {x}}}^{\prime }\) (ms) | Speedup | ||||||
|---|---|---|---|---|---|---|---|---|---|---|
One-core | Quad-core | CPU-GPU | One-core | Quad-core | CPU-GPU | – | ||||
– | – | Quad-CPU | GPU | – | – | – | Quad-CPU | GPU | ||
FB2 | 6.38 | 4.83 | 4.83 | - | 1 | 6.38 | 4.83 | 4.83 | – | 1.32 |
FB1 | 272.03 | 150.19 | – | 3.42 | 15.1 | 4107.8 | 2267.9 | – | 51.66 | 43.9 |
FB3 | 11.78 | 5.72 | – | 2.28 | 14.1 | 166.09 | 80.71 | – | 32.17 | 2.50 |
FB4 | 7.12 | 5.04 | – | 1.37 | 14.1 | 100.50 | 71.09 | – | 19.45 | 3.65 |
FB5 | 5.45 | 2.95 | – | 0.96 | 10 | 55.45 | 29.58 | – | 9.65 | 3.06 |
FB6 | 4.7 | 1.88 | – | 0.51 | 5.2 | 24.87 | 9.8 | – | 2.7 | 3.6 |
Total | 307.46 | 170.61 | 13.37 | – | 4461.09 | 2463.91 | 120.46 | 20.38 | ||