Cooperationofcpu and gpu programs for real-time 3D map building

Yonghyun Jo, Hanyoung Jang, Yeonho Kim, Joon Kee Cho, Hyoung Ki Lee, Young Ik Eom, Jung Hyun Han

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Abstract

    This paper presents how the CPU and GPU programs coordinate in the context of 3D map modeling for a mobile home service robot. In this study, the representation of the environment is given as point clouds, and each scan of point clouds is quite efficiently processed using the parallel processing capability of GPU. Then, the result is read back to CPU for incrementally constructing the map. Due to the coordination between the CPU and GPU, a 3D map can be built at real time. This paper presents the software architecture of the CPU-GPU coordination, the GPU algorithm, and its performance gain.

    Original languageEnglish
    Title of host publicationICSOFT 2011 - Proceedings of the 6th International Conference on Software and Database Technologies
    Pages302-304
    Number of pages3
    Publication statusPublished - 2011
    Event6th International Conference on Software and Database Technologies, ICSOFT 2011 - Seville, Spain
    Duration: 2011 Jul 182011 Jul 21

    Publication series

    NameICSOFT 2011 - Proceedings of the 6th International Conference on Software and Database Technologies
    Volume2

    Other

    Other6th International Conference on Software and Database Technologies, ICSOFT 2011
    Country/TerritorySpain
    CitySeville
    Period11/7/1811/7/21

    Keywords

    • CUDA
    • GPU program
    • Map building

    ASJC Scopus subject areas

    • Software

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