High Performance Realtime Vision for Mobile Robots on the GPU

Christian Folkers; Wolfgang Ertel

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Paper

High Performance Realtime Vision for Mobile Robots on the GPU

In Robot Vision - Volume 0VISAPP, 27-35, 2007 , Barcelona, Spain

Authors: Christian Folkers and Wolfgang Ertel

Affiliation: University of Applied Sciences Ravensburg-Weingarten, Germany

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].

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Paper citation in several formats:

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

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

TY - CONF

JO - Robot Vision (VISAPP 2007) - Robot Vision
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
PB - SciTePress