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Optimizations and Performance of a Robotics Grasping Algorithm Described in Geometric Algebra

Florian Worsdorfer, Florian Stock, Eduardo Bayro-Corrochano, Dietmar Hildenbrand
Technische Universitat Darmstadt (Germany), Graphical Interactive Systems Group
Progress in Pattern Recognition, Image Analysis, Computer Vision, and Applications, Lecture Notes in Computer Science, 2009, Volume 5856/2009, 263-271

@article{worsdorfer2009optimizations,

   title={Optimizations and Performance of a Robotics Grasping Algorithm Described in Geometric Algebra},

   author={W{\"o}rsd{\"o}rfer, F. and Stock, F. and Bayro-Corrochano, E. and Hildenbrand, D.},

   journal={Progress in Pattern Recognition, Image Analysis, Computer Vision, and Applications},

   pages={263–271},

   year={2009},

   publisher={Springer}

}

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The usage of Conformal Geometric Algebra leads to algorithms that can be formulated in a very clear and easy to grasp way. But it can also increase the performance of an implementation because of its capabilities to be computed in parallel. In this paper we show how a grasping algorithm for a robotic arm is accelerated using a Conformal Geometric Algebra formulation. The optimized C code is produced by the CGA framework Gaalop automatically. We compare this implementation with a CUDA implementation and an implementation that uses standard vector algebra.
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