• DocumentCode
    2101916
  • Title

    Speeding up graph-based SLAM algorithm: A GPU-based heterogeneous architecture study

  • Author

    Dine, Abdelhamid ; Elouardi, Abdelhafid ; Vincke, Bastien ; Bouaziz, Samir

  • Author_Institution
    Institut d´Electronique Fondamentale. Université Paris-Sud, 91405, Orsay, FRANCE
  • fYear
    2015
  • fDate
    27-29 July 2015
  • Firstpage
    72
  • Lastpage
    73
  • Abstract
    In this paper we present a study of using an heterogeneous architecture to implement the graph-based SLAM algorithm. The study aims to investigate the performances of an ARM-GPU based architecture by offloading some critical compute-intensive tasks of the algorithm to the integrated GPU.
  • Keywords
    Computer architecture; Graphics processing units; Instruction sets; Simultaneous localization and mapping; Sparse matrices; Synchronization;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Application-specific Systems, Architectures and Processors (ASAP), 2015 IEEE 26th International Conference on
  • Conference_Location
    Toronto, ON, Canada
  • Type

    conf

  • DOI
    10.1109/ASAP.2015.7245711
  • Filename
    7245711
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=2101916