High performance realtime vision for mobile robots on the GPU

Christian Folkers, Wolfgang Ertel
University of Applied Sciences Ravensburg-Weingarten, Germany
Proc. of the International Workshop on Robot Vision, 2007, p.27-35


   title={High Performance Realtime Vision for Mobile Robots on the GPU},

   author={Folkers, C. and Ertel, W.},

   booktitle={Proc. of the International Workshop on Robot Vision},




We present a real time vision system designed for and implemented on a graphics processing unit (GPU). After an introduction in GPU programming we describe the architecture of the system and software running on the GPU. We show the advantages of implementing a vision processor on the GPU rather than on a CPU as well as the shortcomings of this approach. Our performance measurements show that the GPU-based vision system including colour segmentation, pattern recognition and edge detection easily meets the requirements for high resolution (1024×768) colour image processing at a rate of up to 50 frames per second. A CPU-based implementation on a mobile PC would under these constraints achieve only around twelve frames per second. The source code of this system is available online [1].
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