3D Sensor-Based Obstacle Detection Comparing Octrees and Point clouds Using CUDA
This paper presents adaptable methods for achieving fast collision detection using the GPU and Nvidia CUDA together with Octrees. Earlier related work have focused on serial methods, while this paper presents a parallel solution which shows that there is a great increase in time if the number of ope...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Norwegian Society of Automatic Control
2012-10-01
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| Series: | Modeling, Identification and Control |
| Subjects: | |
| Online Access: | http://www.mic-journal.no/PDF/2012/MIC-2012-4-1.pdf |
| _version_ | 1818681490653839360 |
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| author | K.B. Kaldestad G. Hovland D.A. Anisi |
| author_facet | K.B. Kaldestad G. Hovland D.A. Anisi |
| author_sort | K.B. Kaldestad |
| collection | DOAJ |
| description | This paper presents adaptable methods for achieving fast collision detection using the GPU and Nvidia CUDA together with Octrees. Earlier related work have focused on serial methods, while this paper presents a parallel solution which shows that there is a great increase in time if the number of operations is large. Two different models of the environment and the industrial robot are presented, the first is Octrees at different resolutions, the second is a point cloud representation. The relative merits of the two different world model representations are shown. In particular, the experimental results show the potential of adapting the resolution of the robot and environment models to the task at hand. |
| first_indexed | 2024-12-17T10:03:47Z |
| format | Article |
| id | doaj.art-7f02a6db2ab945d39cc024f5bc06206f |
| institution | Directory Open Access Journal |
| issn | 0332-7353 1890-1328 |
| language | English |
| last_indexed | 2024-12-17T10:03:47Z |
| publishDate | 2012-10-01 |
| publisher | Norwegian Society of Automatic Control |
| record_format | Article |
| series | Modeling, Identification and Control |
| spelling | doaj.art-7f02a6db2ab945d39cc024f5bc06206f2022-12-21T21:53:13ZengNorwegian Society of Automatic ControlModeling, Identification and Control0332-73531890-13282012-10-0133412313010.4173/mic.2012.4.13D Sensor-Based Obstacle Detection Comparing Octrees and Point clouds Using CUDAK.B. KaldestadG. HovlandD.A. AnisiThis paper presents adaptable methods for achieving fast collision detection using the GPU and Nvidia CUDA together with Octrees. Earlier related work have focused on serial methods, while this paper presents a parallel solution which shows that there is a great increase in time if the number of operations is large. Two different models of the environment and the industrial robot are presented, the first is Octrees at different resolutions, the second is a point cloud representation. The relative merits of the two different world model representations are shown. In particular, the experimental results show the potential of adapting the resolution of the robot and environment models to the task at hand.http://www.mic-journal.no/PDF/2012/MIC-2012-4-1.pdfCollision DetectionIndustrial RobotGPU |
| spellingShingle | K.B. Kaldestad G. Hovland D.A. Anisi 3D Sensor-Based Obstacle Detection Comparing Octrees and Point clouds Using CUDA Modeling, Identification and Control Collision Detection Industrial Robot GPU |
| title | 3D Sensor-Based Obstacle Detection Comparing Octrees and Point clouds Using CUDA |
| title_full | 3D Sensor-Based Obstacle Detection Comparing Octrees and Point clouds Using CUDA |
| title_fullStr | 3D Sensor-Based Obstacle Detection Comparing Octrees and Point clouds Using CUDA |
| title_full_unstemmed | 3D Sensor-Based Obstacle Detection Comparing Octrees and Point clouds Using CUDA |
| title_short | 3D Sensor-Based Obstacle Detection Comparing Octrees and Point clouds Using CUDA |
| title_sort | 3d sensor based obstacle detection comparing octrees and point clouds using cuda |
| topic | Collision Detection Industrial Robot GPU |
| url | http://www.mic-journal.no/PDF/2012/MIC-2012-4-1.pdf |
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