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Utilization of GPU for real-time vision in robotics

Tomasz Kornuta, Mateusz Pruchniak
Warsaw University of Technology, Institute of Control and Computation Engineering, Nowowiejska 15/19 00-665, POLAND
Signal Processing Algorithms, Architectures, Arrangements, and Applications Conference Proceedings (SPA), 2010

@article{kornutautilization,

   title={Utilization of GPU for real-time vision in robotics},

   author={Kornuta, T. and Pruchniak, M.},

   booktitle={Signal Processing Algorithms, Architectures, Arrangements, and Applications Conference Proceedings (SPA), 2010},

   year={2010}

}

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The paper focuses on the FraDIA vision subsystem part responsible for GPU-based image processing. The developed set of classes encapsulates the OpenCL subroutines and utilizes GPU to fulfill the robotic requirements for real-time visual data processing. The class structure reflects the proposed classification of image processing algorithms.
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