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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

ISBN: 978-989-8425-77-5

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.

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Paper citation in several formats:
Jo, Y.; Jang, H.; Kim, Y.; Cho, J.; Lee, H.; Ik Eom, Y. and Han, J. (2011). COOPERATION OF CPU AND GPU PROGRAMS FOR REAL-TIME 3D MAP BUILDING.In Proceedings of the 6th International Conference on Software and Database Technologies - Volume 2: ICSOFT, ISBN 978-989-8425-77-5, pages 302-304. DOI: 10.5220/0003613203020304

@conference{icsoft11,
author={Yonghyun Jo. and Hanyoung Jang. and Yeonho Kim. and Joon{-}Kee Cho. and Hyoung{-}Ki Lee. and Young Ik Eom. and JungHyun Han.},
title={COOPERATION OF CPU AND GPU PROGRAMS FOR REAL-TIME 3D MAP BUILDING},
booktitle={Proceedings of the 6th International Conference on Software and Database Technologies - Volume 2: ICSOFT,},
year={2011},
pages={302-304},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003613203020304},
isbn={978-989-8425-77-5},
}

TY - CONF

JO - Proceedings of the 6th International Conference on Software and Database Technologies - Volume 2: ICSOFT,
TI - COOPERATION OF CPU AND GPU PROGRAMS FOR REAL-TIME 3D MAP BUILDING
SN - 978-989-8425-77-5
AU - Jo, Y.
AU - Jang, H.
AU - Kim, Y.
AU - Cho, J.
AU - Lee, H.
AU - Ik Eom, Y.
AU - Han, J.
PY - 2011
SP - 302
EP - 304
DO - 10.5220/0003613203020304

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