Abstract:
In this work we explore multiprocessor computer architectures to propose an effective method for solving the Simultaneous Localization and Mapping Problem. The proposed m...Show MoreMetadata
Abstract:
In this work we explore multiprocessor computer architectures to propose an effective method for solving the Simultaneous Localization and Mapping Problem. The proposed method makes use of multithreading to parallelize a Rao-Blackwellized Particle Filter approach. By applying the method in common computers found in robots, it is shown that a significant gain in efficiency can be obtained. Furthermore, the parallel method enables us to raise the number of particles up to values that would not be possible in a single threaded solution, thus gaining in localization precision and map accuracy. In order to analyze SLAM results, frequently used datasets by the robotics community were used, and a benchmarking metric was applied.
Date of Conference: 14-18 September 2014
Date Added to IEEE Xplore: 06 November 2014
ISBN Information: