A real-time GPU-based wall detection algorithm for mapping and navigation in indoor environments

Hadi Moradi, Eun Kwon, Dae Neung Sohn, Junghyun Han

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In robotic applications, there is a growing trend for developing human-like real-time interaction capabilities. A good example can be found in Simultaneous localization and mapping technique, where a robot or an autonomous vehicle builds up a map within an unknown environment while at the same time keeping track of its current position. Especially in indoor environments, wall detection is often a critical part of SLAM: it plays a key role in scene interpretation and 3D workspace modeling. Further, it also reduces the size of the map. This paper presents an effective and real-time approach for detecting walls in indoor environment using GPU (graphics processing unit). The experimental results show the feasibility of using GPU as a coprocessor in robotic applications.

Original languageEnglish
Title of host publicationLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Pages1072-1077
Number of pages6
Volume4558 LNCS
EditionPART 2
Publication statusPublished - 2007 Dec 1
EventSymposium on Human Interface 2007 - Beijing, China
Duration: 2007 Jul 222007 Jul 27

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
NumberPART 2
Volume4558 LNCS
ISSN (Print)03029743
ISSN (Electronic)16113349

Other

OtherSymposium on Human Interface 2007
CountryChina
CityBeijing
Period07/7/2207/7/27

Fingerprint

Graphics Processing Unit
Navigation
Robotics
Simultaneous Localization and Mapping
Real-time
Autonomous Vehicles
Workspace
Robots
Robot
Unknown
Experimental Results
Interaction
Modeling
Graphics processing unit
Coprocessor

ASJC Scopus subject areas

  • Biochemistry, Genetics and Molecular Biology(all)
  • Computer Science(all)
  • Theoretical Computer Science

Cite this

Moradi, H., Kwon, E., Sohn, D. N., & Han, J. (2007). A real-time GPU-based wall detection algorithm for mapping and navigation in indoor environments. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (PART 2 ed., Vol. 4558 LNCS, pp. 1072-1077). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 4558 LNCS, No. PART 2).

A real-time GPU-based wall detection algorithm for mapping and navigation in indoor environments. / Moradi, Hadi; Kwon, Eun; Sohn, Dae Neung; Han, Junghyun.

Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). Vol. 4558 LNCS PART 2. ed. 2007. p. 1072-1077 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 4558 LNCS, No. PART 2).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Moradi, H, Kwon, E, Sohn, DN & Han, J 2007, A real-time GPU-based wall detection algorithm for mapping and navigation in indoor environments. in Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). PART 2 edn, vol. 4558 LNCS, Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), no. PART 2, vol. 4558 LNCS, pp. 1072-1077, Symposium on Human Interface 2007, Beijing, China, 07/7/22.
Moradi H, Kwon E, Sohn DN, Han J. A real-time GPU-based wall detection algorithm for mapping and navigation in indoor environments. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). PART 2 ed. Vol. 4558 LNCS. 2007. p. 1072-1077. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); PART 2).
Moradi, Hadi ; Kwon, Eun ; Sohn, Dae Neung ; Han, Junghyun. / A real-time GPU-based wall detection algorithm for mapping and navigation in indoor environments. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). Vol. 4558 LNCS PART 2. ed. 2007. pp. 1072-1077 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); PART 2).
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