Intelligent Vehicle Perception: Toward the Integration on Embedded Many-core
| Autor: | Julien Mottin, Christian Laugier, Diego Puschini, Amaury Nègre, Tiana Rakotovao, Lukas Rummelhard |
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| Přispěvatelé: | Commissariat à l'énergie atomique et aux énergies alternatives - Laboratoire d'Electronique et de Technologie de l'Information (CEA-LETI), Direction de Recherche Technologique (CEA) (DRT (CEA)), Commissariat à l'énergie atomique et aux énergies alternatives (CEA)-Commissariat à l'énergie atomique et aux énergies alternatives (CEA), Robots coopératifs et adaptés à la présence humaine en environnements dynamiques (CHROMA), Inria Grenoble - Rhône-Alpes, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-CITI Centre of Innovation in Telecommunications and Integration of services (CITI), Institut National des Sciences Appliquées de Lyon (INSA Lyon), Université de Lyon-Institut National des Sciences Appliquées (INSA)-Université de Lyon-Institut National des Sciences Appliquées (INSA)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National des Sciences Appliquées de Lyon (INSA Lyon), Université de Lyon-Institut National des Sciences Appliquées (INSA)-Université de Lyon-Institut National des Sciences Appliquées (INSA), Laboratoire d'Informatique de Grenoble (LIG), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS), Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF) |
| Jazyk: | angličtina |
| Rok vydání: | 2015 |
| Předmět: |
Occupancy grid mapping
OpenCL perception system business.industry Computer science Software_PROGRAMMINGTECHNIQUES Grid Power (physics) Many-core CUDA Core (game theory) Sampling (signal processing) Filter (video) Embedded system [INFO.INFO-ES]Computer Science [cs]/Embedded Systems Software architecture business |
| Zdroj: | 6th Workshop on Parallel Programming and Run-Time Management Techniques for Many-core Architectures (PARMA) 6th Workshop on Parallel Programming and Run-Time Management Techniques for Many-core Architectures (PARMA), Jan 2015, Amsterdam, Netherlands. ⟨10.1145/2701310.2701313⟩ PARMA-DITAM@HiPEAC |
| DOI: | 10.1145/2701310.2701313⟩ |
| Popis: | International audience; Intelligent vehicles (IVs) need a perception system to model the surrounding environment. The Hybrid Sampling Bayesian Occupancy Filter (HSBOF) is a perception algorithm monitoring a grid-based model of the environment called " occupancy grid ". It is a highly data-parallel algorithm and requires a high computational performance to be executed in reasonable time. It is currently implemented in CUDA on a NVIDIA GPU. However, the GPU is power consuming and its purchase cost is too high for the embedded market. In this paper, we prove that, the couple embedded many-core/OpenCL is a feasible hardware/software architecture for replacing the GPU/CUDA. Our OpenCL implementation and experimental results on a testing hardware showed that a many-core can produce an occupancy grid every 168ms while consuming 40 times less power than the GPU. The results are promising for a future integration into IVs. |
| Databáze: | OpenAIRE |
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