The relative performance of these variations is described in Section . The size of each set varies depending on how many image pixels view the occupancy map cell. This is a form of short-circuit evaluation. The sentinel version of the code is shown above. 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.