Efficient GPU-based Construction of Occupancy Girds Using several Laser Range-finders

Manuel Yguel, Olivier Aycard, Christian Laugier
INRIA Rhone-Alpes, Grenoble
IEEE/RSJ International Conference on Intelligent Robots and Systems, 2006


   title={Efficient gpu-based construction of occupancy grids using several laser range-finders},

   author={Yguel, M. and Aycard, O. and Laugier, C.},

   journal={International Journal of Vehicle Autonomous Systems},







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Building occupancy grids (OGs) in order to model the surrounding environment of a vehicle implies to fusion occupancy information provided by the different embedded sensors in the same grid. The principal difficulty comes from the fact that each can have a different resolution, but also that the resolution of some sensors varies with the location in the field of view. In this article we present a new exact approach to this issue and we explain why the problem of switching coordinate systems is an instance of the texture mapping problem in computer graphics. Therefore we introduce a calculus architecture to build occupancy grids with a graphical processor unit (GPU). Thus we present computational time results that can allow to compute occupancy grids for 50 sensors at frame rate even for a very fine grid. To validate our method, the results with GPU are compared to results obtained through the exact approach
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