Vision-Based System for Assisting Blind People to Wander Unknown Environments in a Safe Way

Table 7

Comparison of performance with respect to time.

System	Processor	Dense data	Processing time (fps)
[34]	Laptop	Color and depth	7
[32]	Laptop	Color and depth	8 to 10
[33]	Laptop	Color and depth	10 (outdoor), 15 (indoor)
[29]	Laptop	Color and depth	Faster than 30
Ours	Jetson TX2	Depth	5.96, 7.56 (without visualization)
[20]	Embedded computer	Depth	10
[16]	Jetson TX1	Depth	More than 10