TY - GEN
T1 - A real-time GPU-based wall detection algorithm for mapping and navigation in indoor environments
AU - Moradi, Hadi
AU - Kwon, Eun
AU - Sohn, Dae Neung
AU - Han, Junghyun
PY - 2007
Y1 - 2007
N2 - In robotic applications, there is a growing trend for developing human-like real-time interaction capabilities. A good example can be found in Simultaneous localization and mapping technique, where a robot or an autonomous vehicle builds up a map within an unknown environment while at the same time keeping track of its current position. Especially in indoor environments, wall detection is often a critical part of SLAM: it plays a key role in scene interpretation and 3D workspace modeling. Further, it also reduces the size of the map. This paper presents an effective and real-time approach for detecting walls in indoor environment using GPU (graphics processing unit). The experimental results show the feasibility of using GPU as a coprocessor in robotic applications.
AB - In robotic applications, there is a growing trend for developing human-like real-time interaction capabilities. A good example can be found in Simultaneous localization and mapping technique, where a robot or an autonomous vehicle builds up a map within an unknown environment while at the same time keeping track of its current position. Especially in indoor environments, wall detection is often a critical part of SLAM: it plays a key role in scene interpretation and 3D workspace modeling. Further, it also reduces the size of the map. This paper presents an effective and real-time approach for detecting walls in indoor environment using GPU (graphics processing unit). The experimental results show the feasibility of using GPU as a coprocessor in robotic applications.
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U2 - 10.1007/978-3-540-73354-6_117
DO - 10.1007/978-3-540-73354-6_117
M3 - Conference contribution
AN - SCOPUS:38149138773
SN - 9783540733539
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 1072
EP - 1077
BT - Human Interface and the Management of Information
PB - Springer Verlag
T2 - Symposium on Human Interface 2007
Y2 - 22 July 2007 through 27 July 2007
ER -