. 2016 May 11;16(5):667. doi: 10.3390/s16050667

Table 6.

Average run time performance of the dual-field sensing model.

Model Component	Module	Function	Runtime/Function	Runtime /Module
Near-field interpretation	Ground estimation	Ground model fitting	8.74 ms	8.74 ms
	Object detection	Object range data labeling	6.82 ms	17.39 ms
	Object detection	Object profile separation	10.57 ms	17.39 ms
	Object classification	Multimodal profile histogram	10.67 ms	41.98 ms
		Generic object classification	8.46 ms
		Pedestrian classification	22.85 ms
	Near-field total	All near-field functions	68.11 ms	68.11 ms
Far-field interpretation	Inverse Perspective Transform	Top-view mapping	10.47 ms	10.47 ms
	Cross-field scene interpretation	Appearance prototype matching	56.34 ms	91.58 ms
	Cross-field scene interpretation	Spatial prototype propagation	35.24 ms	91.58 ms
	On-line prototype updating	Appearance prototype updating	21.42 ms	38.24 ms
	On-line prototype updating	Spatial prototype updating	16.82 ms	38.24 ms
	Far-field total	All far-field functions	129.82 ms	129.82 ms
Dual-field interpretation	All dual-field modules	All dual-field model functions	197.93 ms	197.93 ms