From: Spatial change detection using normal distributions transform
Localization
Spatial 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]
 Proposed
20.4 [ms]
