Table 6 Performance analysis of the SAAF-Net inference stage.
Module | Hardware | Time consumption |
|---|---|---|
Semantic segmentation (image + point cloud) | 2x RTX 4090 | ~ 1.5 h |
SW-ICP fine registration | CPU (32 Cores) | ~ 25 min |
Neural adaptive fusion | 1x RTX 4090 | ~ 45 min |
Texture mapping | 1x RTX 4090 | ~ 1 h |
Total | - | ~ 3.8 h |
