Vision-Based Object Recognition and Precise Localization for Space Body Control

Table 3

Time consuming for object detection and localization.

Time consuming (ms)	GPU	CPU
Image sampling and buffering	3 ms for 1 frame	3 ms for 1 frame
Image preprocessing	0.5 ms	2 ms
Object detection (navigation mode)	~30 ms	~100 ms
Object tracking (docking mode)	~10 ms	~14 ms
Coordinates calculating	<0.5 ms	<0.5 ms
Summary	Navigation mode 34 ms (~30 Hz)	Navigation mode 105 ms (~10 Hz)
	Docking mode 14 ms (~70 Hz)	Docking mode 19.5 ms (~20 Hz)