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

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

    Research output: Chapter in Book/Report/Conference proceedingConference 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 languageEnglish
    Title of host publicationHuman Interface and the Management of Information
    Subtitle of host publicationInteracting in Information Environments - Symposium on Human Interface 2007. Held as Part of HCI International 2007, Proceedings
    PublisherSpringer Verlag
    Pages1072-1077
    Number of pages6
    EditionPART 2
    ISBN (Print)9783540733539
    DOIs
    Publication statusPublished - 2007
    EventSymposium on Human Interface 2007 - Beijing, China
    Duration: 2007 Jul 222007 Jul 27

    Publication series

    NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
    NumberPART 2
    Volume4558 LNCS
    ISSN (Print)0302-9743
    ISSN (Electronic)1611-3349

    Other

    OtherSymposium on Human Interface 2007
    Country/TerritoryChina
    CityBeijing
    Period07/7/2207/7/27

    ASJC Scopus subject areas

    • Theoretical Computer Science
    • General Computer Science

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