Effective Parallelization Method for Object Recognition in 2D Sonar Images Based on Task Partitioning

Table 1

Experimental results of SIAS under parallel processing methods.

	SQ (ms)	PP (ms)	TG (ms)	TP (ms)
Preprocessing	6,310	1,832	90	90
Object detection	12,100	109	107	109
Object classification	9	3	3	3
Total	18,419	1944	200	112

SQ: sequential process; PP: parallel process on CPU; TG: Task Partitioning on CPU + parallel processing on GPU; TP: Task Partitioning on CPU + parallel processing on GPU with the pipeline method.