Softassign and EM-ICP on GPU

Toru Tamaki, Miho Abe, Bisser Raytchev, Kazufumi Kaneda
Hiroshima University, Hiroshima, Japan
First International Conference on Networking and Computing (ICNC), 2010


   title={Softassign and EM-ICP on GPU},

   author={Tamaki, T. and Abe, M. and Raytchev, B. and Kaneda, K.},

   booktitle={2010 First International Conference on Networking and Computing},





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In this paper we propose CUDA-based implementations of two 3D point sets registration algorithms: Soft assign and EM-ICP. Both algorithms are known for being time demanding, even on modern multi-core CPUs. Our GPUbased implementations vastly outperform CPU ones. For instance, our CUDA EM-ICP aligns 5000 points in less than 7 seconds on a GeForce 8800GT, while the same implementation in OpenMP on an Intel Core 2 Quad would take 7 minutes.
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