方法

处理图像花费平均时间(ms)

硬件平台

YOLO-SLAM

685.33

Intel i5-4228U CPU

Dyna-SLAM

210.33

Nvidia Tesla M40 GPU

ORB-SLAM2

30.12

Intel i7-12650h + RTX 3060Ti

ORB-SLAM2 + SegNet

74.38

Intel i7-12650h + RTX 3060Ti

ORB-SLAM2 + SegNet

策略

58.77

Intel i7-12650h + RTX 3060Ti