High Performance Realtime Vision for Mobile Robots on the GPU

Christian Folkers, Wolfgang Ertel

2007

Abstract

We present a real time vision system designed for and implemented on a graphics processing unit (GPU). After an introduction in GPU programming we describe the architecture of the system and software running on the GPU. We show the advantages of implementing a vision processor on the GPU rather than on a CPU as well as the shortcomings of this approach. Our performance measurements show that the GPU-based vision system including colour segmentation, pattern recognition and edge detection easily meets the requirements for high resolution (1024×768) colour image processing at a rate of up to 50 frames per second. A CPU-based implementation on a mobile PC would under these constraints achieve only around twelve frames per second. The source code of this system is available online [1].

References

  1. Realtime Vision for Mobile Robots on the GPU. www.robocup.hs-weingarten.de/ gpu-vision
  2. Harris, Mark. 2005. Mapping Computional Concepts to GPUs. In GPU Gems 2, edited by Randima Fernando, pp. 493-508. Addison Wesley.
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  5. Buck, Ian and Purcell, Tim. 2004. A Toolkit for Computation on GPUs. In GPU Gems, edited by Randima Fernando, pp. 621-636. Addison Wesley.
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Paper Citation


in Harvard Style

Folkers C. and Ertel W. (2007). High Performance Realtime Vision for Mobile Robots on the GPU . In Robot Vision - Volume 1: Robot Vision, (VISAPP 2007) ISBN 978-972-8865-76-4, pages 27-35. DOI: 10.5220/0002068900270035


in Bibtex Style

@conference{robot vision07,
author={Christian Folkers and Wolfgang Ertel},
title={High Performance Realtime Vision for Mobile Robots on the GPU},
booktitle={Robot Vision - Volume 1: Robot Vision, (VISAPP 2007)},
year={2007},
pages={27-35},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002068900270035},
isbn={978-972-8865-76-4},
}


in EndNote Style

TY - CONF
JO - Robot Vision - Volume 1: Robot Vision, (VISAPP 2007)
TI - High Performance Realtime Vision for Mobile Robots on the GPU
SN - 978-972-8865-76-4
AU - Folkers C.
AU - Ertel W.
PY - 2007
SP - 27
EP - 35
DO - 10.5220/0002068900270035