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
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;
Conference_Titel :
Application-specific Systems, Architectures and Processors (ASAP), 2015 IEEE 26th International Conference on
Conference_Location :
Toronto, ON, Canada
DOI :
10.1109/ASAP.2015.7245711
