Fig. 4

a PoseNet (new version) inference time. b MapNet inference time. c MapNet +  + inference time. d Network splitting experiments were conducted on the 7Scenes dataset. The abscissa represents the layer at which the network infers termination on mobile devices. For example, relu indicates that the network infers to this layer on the mobile device, and the remaining network inferences are performed at the server. The blue line represents the time it takes to complete inference, and the orange line represents the time it takes to communicate