From: Covariance tracking: architecture optimizations for embedded systems
Instructions | MUL | ADD | LOAD | STORE | AI |
---|---|---|---|---|---|
AoS version with 3 loops | |||||
Product of features | n P | 0 | 2n P | n P | - |
Integral of features | 0 | 3n F | 4n F | n F | - |
Integral of products | 0 | 3n P | 4n P | n P | - |
Total | n P | 3(n P +n F ) | 6n P +4n F | 2n P +n F | - |
Total with n P = n F (n F + 1)/2 |
|
| ∼0.5 | ||
AoS version + loop fusion with 1 loop | |||||
Integral of features | 0 | 2n F | 2n F | n F | - |
Integral product of features | n P | 2n P | n P | n P | - |
Total | n P | 2(n P + n F ) | n P +2n F | n P n F | - |
Total with n P = n F (n F + 1)/2 |
|
| ∼1.5 |