Development of GPU-accelerated localization system for autonomous mobile robot

Development of GPU-accelerated localization system for autonomous mobile robot

Bibliographic Details
Parent link:Mechanical Engineering, Automation and Control Systems (MEACS).— 2014.— [4 p.]
Main Author: Rud M. N.
Other Authors: Pantiykchin A. R.
Summary:Title screen
We present a localization system for autonomous mobile robot, that operates in conditions of well - known environment. In our work we use particle - based Monte - Carlo localization. This algorithm has many applications in mobile robotics, but it is computationally expensive. Due to high level of parallelism in this algorithm, we had an opportunity to accelerate its execution on graphical processing unit (GPU) using CUDA - parallel computing architecture from NVIDIA Corporation. We use Microsoft Kinect sensor and robot odometry to perform indoor localization. Developed system was tested on three-wheeled mobile robot. NVIDIA Jetson TK1 board performed all necessary computations.
Режим доступа: по договору с организацией-держателем ресурса
Language:English
Published: 2014
Subjects:
электронный ресурс
труды учёных ТПУ
mobile robot
Monte-Carlo localization
GPU acceleration
CUDA
Kinect
NVIDIA Jetson TKl
мобильные роботы
локализация
робототехника
графические процессоры
параллельные вычисления
Online Access:http://dx.doi.org/10.1109/MEACS.2014.6986850
Format: Electronic Book Chapter
KOHA link:https://koha.lib.tpu.ru/cgi-bin/koha/opac-detail.pl?biblionumber=638968

Internet

http://dx.doi.org/10.1109/MEACS.2014.6986850

Similar Items