Using GPUs to improve system performance in visual servo systems

Chuantao Zang, Koichi Hashimoto

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

This paper describes our novel work of using GPUs to improve the performance of a homography-based visual servo system. We present our novel implementations of a GPU based Efficient Second-order Minimization (GPU-ESM) algorithm. By utilizing the tremendous parallel processing capability of a GPU, we have obtained significant acceleration over its CPU counterpart. Currently our GPU-ESM algorithm can process a 360 x 360 pixels tracking area at 145 fps on a NVIDIA GTX295 board and Intel Core i7 920, approximately 30 times faster than a CPU implementation. This speedup substantially improves the realtime performance of our system. System reliability and stability are also greatly enhanced by a GPU based Scale Invariant Feature Transform (SIFT) algorithm, which is used to deal with such cases where ESM tracking failure happens, such as due to large image difference, occlusion and so on. In this paper, translation details of the ESM algorithm from CPU to GPU implementation and novel optimizations are presented. The co-processing model of multiple GPUs and multiple CPU threads is described in this paper. The performance of our GPU accelerated system is evaluated with experimental data.

Original languageEnglish
Title of host publicationIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
Pages3937-3942
Number of pages6
DOIs
Publication statusPublished - 2010 Dec 1
Event23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Taipei, Taiwan, Province of China
Duration: 2010 Oct 182010 Oct 22

Publication series

NameIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings

Other

Other23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
CountryTaiwan, Province of China
CityTaipei
Period10/10/1810/10/22

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction
  • Control and Systems Engineering

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