Table 3 The mean, μ, and SD, σ, of the computation time of the obstacle detection algorithm.

Stepμ (ms)σ (ms)Percentage
(%)
Ego-motion
compensation
1.310.3536.80
Mean time
stamp
threshold
0.980.0527.52
Morphological
operations
0.580.0416.29
Clustering0.690.2019.39
Total3.560.45100