目标数N

M0 (ms)

M1 (ms)

M2 (ms)

M3 (ms)

100

0.078

0.0065

0.0056

0.0050

200

0.286

0.0159

0.0106

0.0102

300

0.649

0.0253

0.0175

0.0152

400

1.156

0.0351

0.0246

0.0211

500

1.812

0.0483

0.0328

0.0268

1000

7.19

0.1234

0.0766

0.0594

2000

29.1

0.3625

0.1906

0.1375

4000

117

1.278

0.5156

0.3265

8000

469

4.688

1.516

0.809

10,000

728

7.188

2.172

1.125

15,000

1640

15.68

4.329

2.015

20,000

2922

27.65

7.19

3.12

25,000

4540

42.34

10.78

4.37