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

 Step μ (ms) σ (ms) Percentage(%) Ego-motioncompensation 1.31 0.35 36.80 Mean timestampthreshold 0.98 0.05 27.52 Morphologicaloperations 0.58 0.04 16.29 Clustering 0.69 0.20 19.39 Total 3.56 0.45 100