Base Algorithms of Environment Maps and Efficient Occupancy Grid Mapping on Embedded GPUs

Jörg Fickenscher, Frank Hannig, Jürgen Teich, Mohamed Essayed Bouzouraa

Abstract

An accurate model of the environment is essential for future Advanced Driver Assistance Systems (ADASs). To generate such a model, an enormous amount of data has to be fused and processed. Todays Electronic Control Units (ECUs) struggle to provide enough computing power for those future tasks. To overcome these shortcomings, new architectures, like embedded Graphics Processing Units (GPUs), have to be introduced. For future ADASs, also sensors with a higher accuracy have to be used. In this paper, we analyze common base algorithms of environment maps based on the example of the occupancy grid map. We show from which sensor resolution it is rational to use an (embedded) GPU and which speedup can be achieved compared to a Central Processing Unit (CPU) implementation. A second contribution is a novel method to parallelize an occupancy grid map on a GPU, which is computed from the sensor values of a lidar scanner with several layers. We evaluate our introduced algorithm with real driving data collected on the autobahn.

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Paper Citation


in Harvard Style

Fickenscher J., Hannig F., Teich J. and Bouzouraa M. (2018). Base Algorithms of Environment Maps and Efficient Occupancy Grid Mapping on Embedded GPUs.In Proceedings of the 4th International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS, ISBN 978-989-758-293-6, pages 298-306. DOI: 10.5220/0006677302980306


in Bibtex Style

@conference{vehits18,
author={Jörg Fickenscher and Frank Hannig and Jürgen Teich and Mohamed Essayed Bouzouraa},
title={Base Algorithms of Environment Maps and Efficient Occupancy Grid Mapping on Embedded GPUs},
booktitle={Proceedings of the 4th International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS,},
year={2018},
pages={298-306},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006677302980306},
isbn={978-989-758-293-6},
}


in EndNote Style

TY - CONF

JO - Proceedings of the 4th International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS,
TI - Base Algorithms of Environment Maps and Efficient Occupancy Grid Mapping on Embedded GPUs
SN - 978-989-758-293-6
AU - Fickenscher J.
AU - Hannig F.
AU - Teich J.
AU - Bouzouraa M.
PY - 2018
SP - 298
EP - 306
DO - 10.5220/0006677302980306