The 7th IFAC Symposium on Intelligent Autonomous Vehicles 2010

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Fast Processing of Grid Maps using Graphical Multiprocessors

Diego Rodriguez-Losada
Universidad Politecnica de Madrid
Spain

Paloma de la Puente
Universidad Politecnica de Madrid
Spain

Alberto Valero
Universidad Politecnica de Madrid
Spain

Pablo San Segundo
Universidad Politecnica de Madrid
Spain

Miguel Hernando
Universidad Politecnica de Madrid
Spain

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 50X) while fully releasing the main processor, which can be very useful for many Simultaneous Localization and Mapping algorithms.

 

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