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Fast processing of grid maps using graphical multiprocessors
Cita
Rodríguez-Losada González, Diego, Puente Yusty, Paloma de la 
ORCID: https://orcid.org/0000-0002-8652-0300, Valero, Alberto, San Segundo Carrillo, Pablo ORCID: https://orcid.org/0000-0001-7050-5563 and Hernando Gutiérrez, Miguel ORCID: https://orcid.org/0000-0001-9997-0266
(2010).
Fast processing of grid maps using graphical multiprocessors.
En: "7th IFAC Symposium on Intelligent Autonomous Vehicles (2010)", 06/09/2010 - 08/09/2010, Lecce, Italia. ISBN 978-1-617-82759-4.
ORCID: https://orcid.org/0000-0002-8652-0300, Valero, Alberto, San Segundo Carrillo, Pablo ORCID: https://orcid.org/0000-0001-7050-5563 and Hernando Gutiérrez, Miguel ORCID: https://orcid.org/0000-0001-9997-0266
(2010).
Fast processing of grid maps using graphical multiprocessors.
En: "7th IFAC Symposium on Intelligent Autonomous Vehicles (2010)", 06/09/2010 - 08/09/2010, Lecce, Italia. ISBN 978-1-617-82759-4.
Descripción
| Título: | Fast processing of grid maps using graphical multiprocessors |
|---|---|
| Autor/es: |
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| Tipo de Documento: | Ponencia en Congreso o Jornada (Artículo) |
| Título del Evento: | 7th IFAC Symposium on Intelligent Autonomous Vehicles (2010) |
| Fechas del Evento: | 06/09/2010 - 08/09/2010 |
| Lugar del Evento: | Lecce, Italia |
| Título del Libro: | Proceedings of the 7th IFAC Symposium on Intelligent Autonomous Vehicles (2010) |
| Fecha: | 2010 |
| ISBN: | 978-1-617-82759-4 |
| Materias: | |
| ODS: | |
| Palabras Clave Informales: | mobile robots,robot navigation,computer graphics |
| Escuela: | E.U.I.T. Industrial (UPM) [antigua denominación] |
| Departamento: | Electrónica, Automática e Informática Industrial [hasta 2014] |
| Licencias Creative Commons: | Reconocimiento - Sin obra derivada - No comercial |
Resumen
Grid mapping is a very common technique used in mobile robotics to build a continuous 2D representation of the environment useful for navigation purposes. Although its computation is quite simple and fast, this algorithm uses the hypothesis of a known robot pose. In practice, this can require the re-computation of the map when the estimated robot poses change, as when a loop closure is detected. This paper presents a parallelization of a reference implementation of the grid mapping algorithm, which is suitable to be fully run on a graphics card showing huge processing speedups (up to 50×) while fully releasing the main processor, which can be very useful for many Simultaneous Localization and Mapping algorithms.
Más información
| ID de Registro: | 7915 |
|---|---|
| Identificador DC: | https://oa.upm.es/7915/ |
| Identificador OAI: | oai:oa.upm.es:7915 |
| URL Oficial: | http://www.ifac-papersonline.net/Detailed/43221.ht... |
| Depositado por: | Memoria Investigacion |
| Depositado el: | 27 Jul 2011 08:09 |
| Ultima Modificación: | 20 Abr 2016 16:51 |
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