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Time cost of the seven models
| Models | Building time | Computing time |
|---|---|---|
| M1 | < 10 min/slice | < 2 min/slice |
| M2 | < 10 min/slice | < 2 min/slice |
| M3 | > 1 week/vessel | > 10 h/vessel |
| M4 | > 1 week/vessel | > 10 h/vessel |
| M5 | < 10 min/slice | < 2 min/slice |
| M6 | > 3 days/vessel | > 5 h/vessel |
| M7 | > 2 days/vessel | > 10 h/vessel |
