Table 6 Evaluation of computational cost of each pose proposals

Kazemi and Sullivan [6]*

12.0±1

CPU

Fanelli et al. [4]*

20.1±2

CPU

Li et al. [10]*

62.4±5

CPU

Li Nose*

64.2±5

CPU

KFv3*

89.9±10

CPU

Papazov et al. [12] ⁺

122

CPU

Yang et al. [28] ⁺

∼100

CPU

Yu et al. [9] ⁺

∼250

CPU

Ahn et al. [24] ⁺

0.98

GPU

Venturelli et al. [26] ⁺

10

GPU

Saeed and Al-Hamadi [27] ⁺

>45

GPU