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

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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).