GPU OPTIMIZER: A 3D RECONSTRUCTION ON THE GPU USING MONTE CARLO SIMULATIONS - How to Get Real Time without Sacrificing Precision

Jairo R. Sánchez, Hugo Álvarez, Diego Borro

Abstract

The reconstruction of a 3D map is the key point of any SLAM algorithm. Traditionally these maps are built using non-linear minimization techniques, which need a lot of computational resources. In this paper we present a highly paralellizable stochastic approach that fits very well on the graphics hardware. It can achieve the same precision as non-linear optimization methods without loosing the real time performance. Results are compared against the well known Levenberg-Marquardt algorithm using real video sequences.

References

  1. Eskudero, I., Sánchez, J., Buchart, C., García-Alonso, A., and Borro, D. (2009). Tracking 3d en gpu basado en el filtro de partículas. In Congreso Espan˜ol de Informática Gráfica, pages 47-55.
  2. Lourakis, M. (Jul. 2004). levmar: Levenbergmarquardt nonlinear least squares algorithms in C/C++. http://www.ics.forth.gr/ lourakis/levmar/+.
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  4. Pharr, M. (2005). GPU Gems 2. Programing Techniques for High-Performance Graphics and General-Purpose Computing.
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Paper Citation


in Harvard Style

R. Sánchez J., Álvarez H. and Borro D. (2010). GPU OPTIMIZER: A 3D RECONSTRUCTION ON THE GPU USING MONTE CARLO SIMULATIONS - How to Get Real Time without Sacrificing Precision . In Proceedings of the International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2010) ISBN 978-989-674-028-3, pages 443-446. DOI: 10.5220/0002826704430446


in Bibtex Style

@conference{visapp10,
author={Jairo R. Sánchez and Hugo Álvarez and Diego Borro},
title={GPU OPTIMIZER: A 3D RECONSTRUCTION ON THE GPU USING MONTE CARLO SIMULATIONS - How to Get Real Time without Sacrificing Precision},
booktitle={Proceedings of the International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2010)},
year={2010},
pages={443-446},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002826704430446},
isbn={978-989-674-028-3},
}


in EndNote Style

TY - CONF
JO - Proceedings of the International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2010)
TI - GPU OPTIMIZER: A 3D RECONSTRUCTION ON THE GPU USING MONTE CARLO SIMULATIONS - How to Get Real Time without Sacrificing Precision
SN - 978-989-674-028-3
AU - R. Sánchez J.
AU - Álvarez H.
AU - Borro D.
PY - 2010
SP - 443
EP - 446
DO - 10.5220/0002826704430446