Cooperationofcpu and gpu programs for real-time 3D map building

Yonghyun Jo, Hanyoung Jang, Yeonho Kim, Joon Kee Cho, Hyoung Ki Lee, Young Ik Eom, Jung Hyun Han

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

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.

Original languageEnglish
Title of host publicationICSOFT 2011 - Proceedings of the 6th International Conference on Software and Database Technologies
Pages302-304
Number of pages3
Publication statusPublished - 2011
Event6th International Conference on Software and Database Technologies, ICSOFT 2011 - Seville, Spain
Duration: 2011 Jul 182011 Jul 21

Publication series

NameICSOFT 2011 - Proceedings of the 6th International Conference on Software and Database Technologies
Volume2

Other

Other6th International Conference on Software and Database Technologies, ICSOFT 2011
CountrySpain
CitySeville
Period11/7/1811/7/21

Keywords

  • CUDA
  • GPU program
  • Map building

ASJC Scopus subject areas

  • Software

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  • Cite this

    Jo, Y., Jang, H., Kim, Y., Cho, J. K., Lee, H. K., Eom, Y. I., & Han, J. H. (2011). Cooperationofcpu and gpu programs for real-time 3D map building. In ICSOFT 2011 - Proceedings of the 6th International Conference on Software and Database Technologies (pp. 302-304). (ICSOFT 2011 - Proceedings of the 6th International Conference on Software and Database Technologies; Vol. 2).