Table 2. Average required frame-based running time for all frames in sequence 10 in KITTI dataset.

Approach	Inference [s]	NDT [s]	Total [s]
w/o PN++	–	2.77	2.77
with PN++	0.352	1.096	1.448

Notes.

(pn++ stands for for our point cloud based coarse pose estimation model).