Covariance tracking: architecture optimizations for embedded systems

EURASIP Journal on Advances in Signal Processing

Table 5 Complexity, memory accesses, and arithmetic intensity of AoS versions with/without loop-fusion

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	$2 n_{F}^{2} + 5 n_{F}$		$4 n_{F}^{2} + 9 n_{F}$		∼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	$1.5 n_{F}^{2} + 3.5 n_{F}$		$n_{F}^{2} + 4 n_{F}$		∼1.5