A Light-and-Fast SLAM Algorithm for Robots in Indoor Environments Using Line Segment Map

Table 1

Summarizes the total memory, average time, and maximum time needed for the two algorithms.

	Total memory (MB)	Avg. time (ms)	Max. time (ms)
General approach	193.2 (100%)	453.4 (100%)	1062 (100%)
Proposed algorithm	10.7 (5.5%)	29.5 (6.5%)	78 (7.4%)