| Step | v Independent FLOP count | v Dependent FLOP count |
| Compute Velocity | 141mf − 12 | 160 |
| Compute Error | 36mf − 12 | 56 |
| Selection of Pose | 0 | 5 mf |
| Per Iteration | 0 | 5 mf + 216 |
| AOPEA Algorithm | 177mf ? 24 + (5mf + 216)k2 | |