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Averaged times required by the perception system until data are available for control and actuation.
| Camera Sensor | GPS | IMU | Synchronization (Next Treatment Segment) | |||
|---|---|---|---|---|---|---|
|
| ||||||
| Image Acquisition | Image Processing | Perception (Sub-Total) | Acquisition | Acquisition | ||
| Average Time (ms) | 50 | 250–300 | 300–350 | 1 | 1 | 2.4 s |
| Refresh Rate (Hz) | 10 | 3.3 | 2 | 10 | 50 | - |
