Deutsch Intern
Institute of Computer Science



Im Sommersemester 2016 findet im Rahmen des Informatik-Kolloquiums der folgende Vortrag statt:

Montag, 9. Mai 2016, 16.15 Uhr, Turing-Hörsaal

Dr. Janusz Bedkowski, IMM Warschau

GPGPU approach for robotic mobile mapping system

This talk concerns parallel computing applied for robotic mobile mapping system. The state of the art in NVIDIA GPGPU architectures will be discussed. 3D data decomposition will be demonstrated, thus basic algorithms such as down sampling, noise removal, nearest neighbourhood search, semantic classification will be described. Different approaches for iterative data registration including ICP (Iterative Closest Point), ICP point to projection, ICP with semantic discrimination of points, LS3D (Least Square Surface Matching) will be discussed. Loop closing based on extended GPGPU implementation of 3DTK framework; semantics and multi scan registration with LS3D will be shown. Recent linear system solvers available in NVIDIA CUDA 7.5 SDK will be discussed. Crucial case studies showing advantages and disadvantages of discussed registration methods in comparison to state of the art will be discussed.