Research Article
Visual Map Construction Using RGB-D Sensors for Image-Based Localization in Indoor Environments
Table 3
Hardware resource usage and time consumption.
| | Methods of modeling | CPU usage
(%) |
(%) | Memory usage
(GB) |
(%) | Time consumption
(second/frame) |
(%) |
| | Proposed method | 39.08 | — | 1.42 | — | 0.2478 | — | | RGB-D ICP | 37.84 | 3.28 | 1.37 | 3.65 | 0.2236 | 10.82 | | Classical ICP | 32.61 | 19.84 | 1.19 | 19.33 | 0.1998 | 24.02 |
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