Fast processing of grid maps using graphical multiprocessors

Rodríguez-Losada González, Diego and Puente Yusty, Paloma de la and Valero, Alberto and San Segundo Carrillo, Pablo and Hernando Gutiérrez, Miguel (2010). Fast processing of grid maps using graphical multiprocessors. In: "7th IFAC Symposium on Intelligent Autonomous Vehicles (2010)", 06/09/2010 - 08/09/2010, Lecce, Italia. ISBN 978-1-617-82759-4.

Description

Title: Fast processing of grid maps using graphical multiprocessors
Author/s:
  • Rodríguez-Losada González, Diego
  • Puente Yusty, Paloma de la
  • Valero, Alberto
  • San Segundo Carrillo, Pablo
  • Hernando Gutiérrez, Miguel
Item Type: Presentation at Congress or Conference (Article)
Event Title: 7th IFAC Symposium on Intelligent Autonomous Vehicles (2010)
Event Dates: 06/09/2010 - 08/09/2010
Event Location: Lecce, Italia
Title of Book: Proceedings of the 7th IFAC Symposium on Intelligent Autonomous Vehicles (2010)
Date: 2010
ISBN: 978-1-617-82759-4
Subjects:
Freetext Keywords: mobile robots,robot navigation,computer graphics
Faculty: E.U.I.T. Industrial (UPM)
Department: Electrónica, Automática e Informática Industrial [hasta 2014]
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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Abstract

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.

More information

Item ID: 7915
DC Identifier: http://oa.upm.es/7915/
OAI Identifier: oai:oa.upm.es:7915
Official URL: http://www.ifac-papersonline.net/Detailed/43221.html
Deposited by: Memoria Investigacion
Deposited on: 27 Jul 2011 08:09
Last Modified: 20 Apr 2016 16:51
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