Efficient GPU-based Construction of Occupancy Grids Using several Laser Range-findersReport as inadecuate




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1 E-MOTION - Geometry and Probability for Motion and Action GRAVIR - IMAG - Graphisme, Vision et Robotique, Inria Grenoble - Rhône-Alpes

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.





Author: Manuel Yguel - Olivier Aycard - Christian Laugier -

Source: https://hal.archives-ouvertes.fr/



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