Figure 12.

(A) Computational time (in ms) required for processing 10 ms of events when computing the pose of the icosahedron, applying the velocity estimation strategy with the experimentally selected optimal set of parameters. If t₁₀ is below 10 ms (indicated here by the horizontal line), then the computation is carried out in real-time. (B) Number of incoming events per 10 ms. As we can observe, the number of events and t₁₀ has a similar form, suggesting that the computational time per event remains approximately constant. (C) Computational time required per event (in μs). As we can see, it remains almost constant for the whole experiment, its mean value being equal to 5.11 μ s.