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Time expenditure of each processing step preformed on the GPU in the order of execution as shown in Thread 2 of Fig. 2. The total average processing time was 3.02ms for each SV image (512 × 512 pixels, n = 4) with registration image size of 256 × 256. memcpyHtoD and memcpyDtoH are data transfer to and from the GPU, respectively.
