## 5 Discussion and Conclusions
### Comparison Between Virtual Machines and Containers  
Both methods of virtualization present some advantages. On the one hand, VMs can provide a graphical user interface that is very useful for monitoring and testing without dealing with the network. Furthermore, VMs emulate low-layer components, allowing you to tune them to fit your needs. Thus, you can make VMs for use with real stuff like USB sticks, which is an impossible thing to do with containers. On the other hand, you have containers. These involve high-layer virtualization, with only the packages you need and your code embedded. Therefore, containers are light and can be modified quickly due to the share of the host's OS. Containers can easily be made lightweight and compatible. The community has a lot of container images with software already built in. Developers can just pull the image and get rid of the prerequisites, accelerating software development and app deployment. Containers are developed in a static context. The files and apps within a container are not meant to change. Developing and testing an app or some software meant to be tested in a dynamical context in a container may cause compatibility or security issues. So, regarding the use of virtual machines or containers, although the solution is not straightforward, we can say that it depends on the requirements, but we can conclude that a good method of virtualization is crucial for the success of a project. To separate apps on the same host without overloading the host with a virtual OS, containers are a must. Containers should be used when flexibility and resource efficiency are critical, especially in resource-constrained environments such as Edge Computing. \begin{table}
\begin{tabular}{l c c c c c} \hline \hline
**Metric** & **Average Time (s)** & **RGB (s)** & **RE (s)** & **R (s)** & **G (s)** \\ \hline Preprocessing Time & 3.67 & – & – & – & – \\ Warp Matrix Creation & 24.72 & – & – & – & – \\ Pointcloud Time & – & 912.28 & 868.09 & 875.95 & 858.71 \\ \hline \hline \end{tabular}
\end{table} 
Table 4: Performance metrics for use case given in Section 3.8. As much as containers share the OS of the host, some cases are not compatible with granularity in hardware devices, complete isolation, specific OS configurations and customer requirements. Thus, the use of VMs would be relevant in this case. As a general conclusion, we can see that even in the worst case of the different stack tests (using the Kubernetes and Docker Engine stack, which is a common option for companies), the performance can be meaningful, although the computing power is quite low. For future work, we will further study different use cases and the analysis of performance in bigger hardware architectures for Edge or Cloud. Also, different tests of these technologies on security issues in Edge environments will be performed in a later work for deploying services in distributed and resource-limited environments. Furthermore, we will explore the performance impact arising from the differences in system requirements between virtualization and containerization when executing a greater variety of different parallel tasks at the Edge. Conceptualization, [PERSON]-[PERSON] and [PERSON]-P.; methodology, J.S.-G., H.S. and A.F. ; software, H.S., A.F. and A.S.-N.; investigation, H.S., A.F. and A.S.-N.; resources, [PERSON]-G. and [PERSON]-P.; writing--original draft preparation, J.S.-G.; writing--review and editing, H.S., A.F., A.S.-N. and M.G.-P.; funding acquisition, [PERSON] and [PERSON]. All authors have read and agreed to the published version of the manuscript. This research was partially funded by the Spanish Ministry of Science and Innovation/Spanish Research Agency (MCIN/AEI) within the project Agriculture 6.0 with reference TED2021-131040B-C33 and the project ECO4 RUPA with reference PID2021-126823 OB-I00, funded by MCIN/AEI/10.13039/501100011033 and by the European Union \"NextGenerationEU\"/PRTR. Also, the Spanish Ministry of Universities for the grant number PRX22/000503.