Table 13.
Observation means for CPU usage.
| Observation | Cartographer | Gmapping | HECTOR-SLAM | Karto | RTAB-Map |
|---|---|---|---|---|---|
| 1 | 79.9485 | 65.7767 | 14.9611 | 24.6362 | 21.9038 |
| 2 | 79.2709 | 64.4213 | 15.3271 | 25.1983 | 22.5627 |
| 3 | 85.2832 | 30.6667 | 15.4501 | 24.7791 | 19.1986 |
| 4 | 83.9482 | 29.9745 | 16.1314 | 27.2580 | 22.8742 |
| 5 | 125.5938 | 33.0631 | 15.4562 | 33.0401 | 22.1754 |
| 6 | 126.6733 | 31.8696 | 15.6368 | 30.8826 | 23.0957 |
| Mean | 96.7863 | 42.6286 | 15.4938 | 27.6324 | 21.9684 |
| Standard Deviation | 22.8497 | 17.4426 | 0.3852 | 3.5494 | 1.4257 |
| 7 | 157.0573 | 64.2396 | 15.7638 | 22.8283 | 21.8038 |
| 8 | 106.4543 | 64.9399 | 15.3108 | 23.356 | 22.6580 |
| 9 | 103.8126 | 58.5111 | 15.2690 | 23.1910 | 21.0382 |
| 10 | 168.8664 | 64.2727 | 15.6305 | 22.3582 | 21.4474 |
| 11 | 226.6733 | 85.0477 | 16.0144 | 29.0134 | 27.6719 |
| 12 | 225.4842 | 81.7984 | 15.2684 | 32.1010 | 27.6719 |
| Mean | 167.8463 | 69.8016 | 15.5420 | 25.4746 | 23.3506 |
| Standard Deviation | 54.2421 | 10.8534 | 0.3117 | 4.0706 | 2.6483 |
| 13 | 122.4997 | 33.6084 | 15.7692 | 34.9936 | 24.2222 |
| 14 | 135.0477 | 33.5639 | 13.8457 | 36.0513 | 27.0032 |
| 15 | 245.9916 | 38.4121 | 13.8691 | 48.7294 | 39.1275 |
| Mean | 167.8463 | 35.1948 | 14.4947 | 39.9248 | 30.1176 |
| Standard Deviation | 67.9660 | 2.7863 | 1.1038 | 7.6433 | 7.9257 |
| Total Mean | 138.1737 | 52.0110 | 15.3132 | 29.2278 | 25.1455 |
| Total Standard Deviation | 55.8754 | 19.6419 | 0.6646 | 7.1000 | 3.4543 |