NDLI: Efficient GPU-based Construction of Occupancy Girds Using several Laser Range-finders

Content Provider	IEEE Xplore Digital Library
Author	Yguel, M. Aycard, O. Laugier, C.
Copyright Year	2006
Description	Author affiliation: INRIA, Grenoble (Yguel, M.; Aycard, O.; Laugier, C.)
Abstract	Building occupancy grids (OGs) in order to model the surrounding environment of a vehicle implies to fusion occupancy information provided by the different embedded sensors in the same grid. The principal difficulty comes from the fact that each can have a different resolution, but also that the resolution of some sensors varies with the location in the field of view. In this article we present a new exact approach to this issue and we explain why the problem of switching coordinate systems is an instance of the texture mapping problem in computer graphics. Therefore we introduce a calculus architecture to build occupancy grids with a graphical processor unit (GPU). Thus we present computational time results that can allow to compute occupancy grids for 50 sensors at frame rate even for a very fine grid. To validate our method, the results with GPU are compared to results obtained through the exact approach
Starting Page	105
Ending Page	110
File Size	7322140
Page Count	6
File Format	PDF
ISBN	1424402581
DOI	10.1109/IROS.2006.281817
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-10-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Intelligent sensors Laser fusion Grid computing Sensor phenomena and characterization Sensor systems Shape measurement Intelligent robots Laser modes Vehicles Sensor fusion
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Efficient GPU-based Construction of Occupancy Grids Using several Laser Range-finders

Efficient gpu-based construction of occupancy grids using several laser range-finders (2006)

Efficient GPU-based Construction of Occupancy Grids Using several Laser Range-finders.

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