1,239 research outputs found
Robust and Fast 3D Scan Alignment using Mutual Information
This paper presents a mutual information (MI) based algorithm for the
estimation of full 6-degree-of-freedom (DOF) rigid body transformation between
two overlapping point clouds. We first divide the scene into a 3D voxel grid
and define simple to compute features for each voxel in the scan. The two scans
that need to be aligned are considered as a collection of these features and
the MI between these voxelized features is maximized to obtain the correct
alignment of scans. We have implemented our method with various simple point
cloud features (such as number of points in voxel, variance of z-height in
voxel) and compared the performance of the proposed method with existing
point-to-point and point-to- distribution registration methods. We show that
our approach has an efficient and fast parallel implementation on GPU, and
evaluate the robustness and speed of the proposed algorithm on two real-world
datasets which have variety of dynamic scenes from different environments
GPU accelerated maximum cardinality matching algorithms for bipartite graphs
We design, implement, and evaluate GPU-based algorithms for the maximum
cardinality matching problem in bipartite graphs. Such algorithms have a
variety of applications in computer science, scientific computing,
bioinformatics, and other areas. To the best of our knowledge, ours is the
first study which focuses on GPU implementation of the maximum cardinality
matching algorithms. We compare the proposed algorithms with serial and
multicore implementations from the literature on a large set of real-life
problems where in majority of the cases one of our GPU-accelerated algorithms
is demonstrated to be faster than both the sequential and multicore
implementations.Comment: 14 pages, 5 figure
Two-dimensional batch linear programming on the GPU
This paper presents a novel, high-performance, graphical processing unit-based algorithm for efficiently solving two-dimensional linear programs in batches. The domain of two-dimensional linear programs is particularly useful due to the prevalence of relevant geometric problems. Batch linear programming refers to solving numerous different linear programs within one operation. By solving many linear programs simultaneously and distributing workload evenly across threads, graphical processing unit utilization can be maximized. Speedups of over 22 times and 63 times are obtained against state-of-the-art graphics processing unit and CPU linear program solvers, respectively
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