A real-time GPU-based wall detection algorithm for mapping and navigation in indoor environments

Hadi Moradi; Eun Kwon; Dae Neung Sohn; Junghyun Han

doi:10.1007/978-3-540-73354-6_117

A real-time GPU-based wall detection algorithm for mapping and navigation in indoor environments

Hadi Moradi, Eun Kwon, Dae Neung Sohn, Junghyun Han

Department of Computer Science and Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

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.

Original language	English
Title of host publication	Human Interface and the Management of Information
Subtitle of host publication	Interacting in Information Environments - Symposium on Human Interface 2007. Held as Part of HCI International 2007, Proceedings
Publisher	Springer Verlag
Pages	1072-1077
Number of pages	6
Edition	PART 2
ISBN (Print)	9783540733539
DOIs	https://doi.org/10.1007/978-3-540-73354-6_117
Publication status	Published - 2007
Event	Symposium on Human Interface 2007 - Beijing, China Duration: 2007 Jul 22 → 2007 Jul 27

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Number	PART 2
Volume	4558 LNCS
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Other

Other	Symposium on Human Interface 2007
Country/Territory	China
City	Beijing
Period	07/7/22 → 07/7/27

ASJC Scopus subject areas

Theoretical Computer Science
Computer Science(all)

Access to Document

10.1007/978-3-540-73354-6_117

Cite this

Moradi, H., Kwon, E., Sohn, D. N., & Han, J. (2007). A real-time GPU-based wall detection algorithm for mapping and navigation in indoor environments. In Human Interface and the Management of Information: Interacting in Information Environments - Symposium on Human Interface 2007. Held as Part of HCI International 2007, Proceedings (PART 2 ed., pp. 1072-1077). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 4558 LNCS, No. PART 2). Springer Verlag. https://doi.org/10.1007/978-3-540-73354-6_117

A real-time GPU-based wall detection algorithm for mapping and navigation in indoor environments. / Moradi, Hadi; Kwon, Eun; Sohn, Dae Neung et al.
Human Interface and the Management of Information: Interacting in Information Environments - Symposium on Human Interface 2007. Held as Part of HCI International 2007, Proceedings. PART 2. ed. Springer Verlag, 2007. p. 1072-1077 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 4558 LNCS, No. PART 2).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Moradi, H, Kwon, E, Sohn, DN & Han, J 2007, A real-time GPU-based wall detection algorithm for mapping and navigation in indoor environments. in Human Interface and the Management of Information: Interacting in Information Environments - Symposium on Human Interface 2007. Held as Part of HCI International 2007, Proceedings. PART 2 edn, Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), no. PART 2, vol. 4558 LNCS, Springer Verlag, pp. 1072-1077, Symposium on Human Interface 2007, Beijing, China, 07/7/22. https://doi.org/10.1007/978-3-540-73354-6_117

Moradi H, Kwon E, Sohn DN, Han J. A real-time GPU-based wall detection algorithm for mapping and navigation in indoor environments. In Human Interface and the Management of Information: Interacting in Information Environments - Symposium on Human Interface 2007. Held as Part of HCI International 2007, Proceedings. PART 2 ed. Springer Verlag. 2007. p. 1072-1077. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); PART 2). doi: 10.1007/978-3-540-73354-6_117

Moradi, Hadi ; Kwon, Eun ; Sohn, Dae Neung et al. / A real-time GPU-based wall detection algorithm for mapping and navigation in indoor environments. Human Interface and the Management of Information: Interacting in Information Environments - Symposium on Human Interface 2007. Held as Part of HCI International 2007, Proceedings. PART 2. ed. Springer Verlag, 2007. pp. 1072-1077 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); PART 2).

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A real-time GPU-based wall detection algorithm for mapping and navigation in indoor environments

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