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idiap / ESLAM

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4.2 Runtime Analysis #6

Closed shaoxiang777 closed 1 year ago

shaoxiang777 commented 1 year ago

Hi Mohammad,

thank you every much for your great job! About 4.2 Runtime Analysis in the paper I have some questions. When you analysis avarage frame processing time(FPT), do you count mapping and tracking time togother? I mean, do you count FPT after a whole sequence (while blocking visualization part and mesh part)?

In addition, in nice-slam and eslam, you use different strategies for tracking and maping frequency. So you calculate speed FPT based on same completion/completion ratio/accuracy or?

Thanks a lot in advance! Jonas

MohammadJohari commented 1 year ago

Hello,

That is exactly correct. The FPT is calculated as the time that is needed to process the whole sequence divided by the number of frames. Note that there is an overhead time at the beginning which we exclude from this analysis.

The analysis is done separately for NiCE-SLAM and ESLAM. Each model uses its own strategy and the FPT is calculated with the default strategy of each paper.

I hope this helps.