COOPERATION OF CPU AND GPU PROGRAMS FOR REAL-TIME 3D MAP BUILDING

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

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.

References

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Paper Citation


in Harvard Style

Jo Y., Jang H., Kim Y., Cho J., Lee H., Ik Eom Y. and Han J. (2011). COOPERATION OF CPU AND GPU PROGRAMS FOR REAL-TIME 3D MAP BUILDING . In Proceedings of the 6th International Conference on Software and Database Technologies - Volume 2: ICSOFT, ISBN 978-989-8425-77-5, pages 302-304. DOI: 10.5220/0003613203020304


in Bibtex Style

@conference{icsoft11,
author={Yonghyun Jo and Hanyoung Jang and Yeonho Kim and Joon-Kee Cho and Hyoung-Ki Lee and Young Ik Eom and JungHyun Han},
title={COOPERATION OF CPU AND GPU PROGRAMS FOR REAL-TIME 3D MAP BUILDING},
booktitle={Proceedings of the 6th International Conference on Software and Database Technologies - Volume 2: ICSOFT,},
year={2011},
pages={302-304},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003613203020304},
isbn={978-989-8425-77-5},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 6th International Conference on Software and Database Technologies - Volume 2: ICSOFT,
TI - COOPERATION OF CPU AND GPU PROGRAMS FOR REAL-TIME 3D MAP BUILDING
SN - 978-989-8425-77-5
AU - Jo Y.
AU - Jang H.
AU - Kim Y.
AU - Cho J.
AU - Lee H.
AU - Ik Eom Y.
AU - Han J.
PY - 2011
SP - 302
EP - 304
DO - 10.5220/0003613203020304