Table 3.

Proposed methods with their results. Values are approximate due to non-standard tests performed.

Reference	Camera	Platform	Monocular/Stereo	Max Reported Depth (m)	Accuracy/Error	Latency	Power Consumption
INDOOR
[42]	[63]	Embedded Blackfin BF537 DSP	Stereo	3.5	Error: 2.00–45 cm	5.0–50 ms	5 W
[43]	[15]	Standard CPU (Pentium 4 laptop)	Stereo	0.060	Error: 3.67–5.79%	0.30 ms	30% CPU load
[44]	[15]	CPU	Stereo	-	Accuracy: 95.0%	-	-
[51]	[19]	Spartan 6 FPGA	Stereo	1.0	Error: <1.50%	50 ms	-
[35]	[15]	FPGA	Stereo	3.5	Error: 0.1–0.5 m	13.7 µs	-
[49]	[64]	Single-core Intel i7 1.9 GHz CPU	Stereo	-	Error: 3.10–13.4 cm	-	17W
[48] 1	[15]	CPU	Stereo	5.0	Accuracy: 75–85%	-	-
[47] 2	[15]	CPU	Monocular	-	-	-	-
[40]	[15]	SpiNNaker	Stereo	2.8	Accuracy: 96.7–62.2%	2 ms	90 W
[53]	[21]	CPU i7 3.40 GHz	Stereo	5.0	Accuracy: 96.0%	30 ms	1.99 mW
[45]	[7]	CPU	Stereo	4.5	Error: 0.110 m	-	-
[55]	[21]	Intel i7 3.4 GHz CPU	Stereo	5.0	Accuracy: 61.1–92.0%	2 ms	-
[41]	[21]	TrueNorth	Stereo	0.12	Error: 5.00–11.6%	9 ms	0.058 mW/Pixel
[52]	[23]	NVIDIA 960M GPU	Stereo	30	Error: 0.36–0.44 m	40 ms	-
[28]	[65]	CPU	Monocular	5.5	Error: 4.00–23.0%	10 ms	200 mW
[57]	[60]	GeForce GTX TITAN X GPU	Stereo	30	Error: 0.136–0.184 m	-	-
[50]	[65]	Intel Core i7-8750H CPU	Stereo	6.0	Error: 0.16–0.19 m	78 ms	-
Outdoor
[46] 3	[15]	Intel® i7 processor at 2.60 GHz	Stereo	30	Error: 3.97–6.47%	32 μs/event	-
[58]	[60]	CPU	Monocular	30	Error: 2.19–5.05 m	-	-
[56]	[60]	CPU	Monocular	30	Error: 1.42–4.46 m	-	-

¹ Method was mostly tested indoors with one test outdoors. Due to averaged results this reference is designated as being tested indoors. ² Method assumed to be mostly tested indoors as no experimental results included; placed as being tested indoors. ³ Results are designated as being taken outdoors due to having more fast motion and scene noise.