Consistent interpose mapping through ICP on embedded GPU

Authors

  • Martin Nievas Universidad Tecnológica Nacional, Facultad Regional Córdoba - Argentina
  • Gastón R. Araguás Director
  • Claudio J. Paz Codirector

DOI:

https://doi.org/10.33414/ajea.1088.2022

Keywords:

SLAM, GTSAM, 2D-LIDAR

Abstract

The ability of a robot to generate a map of the environment is a problem widely explored in the robotic community. We present a SLAM algorithm oriented to platforms with embedded GPU. It generates a 2D map of the environment based on odometry and 2D Lidar measurements. An ICP algorithm developed in CUDA is used to compute the correspondence between the laser measurements. Experimental results and comparisons are presented against algorithms widely used in robotics.

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Published

2022-10-03

How to Cite

Nievas, M., Araguás, G. R., & Paz, C. J. (2022). Consistent interpose mapping through ICP on embedded GPU. AJEA (Proceedings of UTN Academic Conferences and Events), (15). https://doi.org/10.33414/ajea.1088.2022

Conference Proceedings Volume

No. 15 (2022): VI Conference on Exchange and Dissemination of Research Results of Doctoral Students in Engineering

Section

Proceedings - Electronics