Enhancing the Ambient Assisted Living Capabilities with a Mobile Robot

Table 3

Runtime of each subsystem that composes our proposal.

System	Processor	Runtime (ms)
BG subtraction	AAL	56.2
Person detection (3D)	AAL	18.3
Communication overhead	AAL	5.2
Accumulated		79.7
OGT	Robot_DS1	315
SOD	Robot_DS1	25.1
Merging	Robot_DS1	21.5
SLAM	Robot	40
Communication overhead	Robot	7.4
Accumulated		343.9

Note that some processes run simultaneously, so only those that take most time contribute for the accumulated time.