The image-based algorithm can be split into equal numbers of iterations on the camera loop. Figure illustrates the workload. The processor workload using image-level parallelism. This algorithm also produces write hazards, because multiple processors may write to the same occupancy map cell at the same time. The image-based algorithm can be split into equal numbers of iterations on the image pixels.
Figure illustrates the workload.
The processor workload using pixel-level parallelism. This algorithm also produces write hazards, because multiple processors may write to the same occupancy map cell at the same time. The map-based algorithm can be split into equal numbers of iterations on the map cells. Figure illustrates the workload. This algorithm has no write hazards, because only one processor may write to each map cell.