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Table 5 Processing time for each step

From: Spatial change detection using normal distributions transform

LocalizationSpatial change detection
827.2 [m] 3D-NDT [10]570.0 [ms]
 \(L_2\) [18]17.2 [ms]
 XOR [22]17.9 [ms]
 XOR (overlapped)19.4 [ms]
 Proposed20.4 [ms]