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. If some areas of the map are scarcely covered by image data while other areas are densely covered, then the workload will be correspondingly unbalanced. The processor workload using map-level parallelism. The frame rate of our system depends on the number of cameras, the size of the camera images, the size of the occupancy map, and the algorithm and computer architecture. The frame rate is also upper-bounded by the frame rate of the cameras.