@inproceedings{56b051c353a54ea89feb1f2cbb9fc538,
title = "Cooperationofcpu and gpu programs for real-time 3D map building",
abstract = "This paper presents how the CPU and GPU programs coordinate in the context of 3D map modeling for a mobile home service robot. In this study, the representation of the environment is given as point clouds, and each scan of point clouds is quite efficiently processed using the parallel processing capability of GPU. Then, the result is read back to CPU for incrementally constructing the map. Due to the coordination between the CPU and GPU, a 3D map can be built at real time. This paper presents the software architecture of the CPU-GPU coordination, the GPU algorithm, and its performance gain.",
keywords = "CUDA, GPU program, Map building",
author = "Yonghyun Jo and Hanyoung Jang and Yeonho Kim and Cho, \{Joon Kee\} and Lee, \{Hyoung Ki\} and Eom, \{Young Ik\} and Han, \{Jung Hyun\}",
year = "2011",
language = "English",
isbn = "9789898425775",
series = "ICSOFT 2011 - Proceedings of the 6th International Conference on Software and Database Technologies",
pages = "302--304",
booktitle = "ICSOFT 2011 - Proceedings of the 6th International Conference on Software and Database Technologies",
note = "6th International Conference on Software and Database Technologies, ICSOFT 2011 ; Conference date: 18-07-2011 Through 21-07-2011",
}