Authors:
Yonghyun Jo
1
;
Hanyoung Jang
1
;
Yeonho Kim
2
;
Joon-Kee Cho
2
;
Hyoung-Ki Lee
3
;
Young Ik Eom
4
and
JungHyun Han
1
Affiliations:
1
Korea University, Korea, Republic of
;
2
Samsung Electronics Co., Korea, Republic of
;
3
Samsung Advanced Institute of Technology, Korea, Republic of
;
4
Sungkyunkwan University, Korea, Republic of
Keyword(s):
GPU program, Map building, CUDA.
Related
Ontology
Subjects/Areas/Topics:
Embedded Communications Systems
;
Software Architectures
;
Telecommunications
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.