{"id":9021,"date":"2013-03-12T00:50:35","date_gmt":"2013-03-11T22:50:35","guid":{"rendered":"http:\/\/hgpu.org\/?p=9021"},"modified":"2013-03-12T00:50:35","modified_gmt":"2013-03-11T22:50:35","slug":"3d-modeling-distance-and-gradient-computation-for-motion-planning-a-direct-gpgpu-approach","status":"publish","type":"post","link":"https:\/\/hgpu.org\/?p=9021","title":{"rendered":"3D Modeling, Distance and Gradient Computation for Motion Planning: A Direct GPGPU Approach"},"content":{"rendered":"<p>The Kinect sensor and KinectFusion algorithm have revolutionized environment modeling. We bring these advances to optimization-based motion planning by computing the obstacle and self-collision avoidance objective functions and their gradients directly from the KinectFusion model on the GPU without ever transferring any model to the CPU. Based on this, we implement a proof-of-concept motion planner which we validate in an experiment with a 19-DOF humanoid robot using real data from a tabletop work space. The summed-up time from taking the first look at the scene until the planned path avoiding an obstacle on the table is executed is only three seconds.<\/p>\n","protected":false},"excerpt":{"rendered":"<p>The Kinect sensor and KinectFusion algorithm have revolutionized environment modeling. We bring these advances to optimization-based motion planning by computing the obstacle and self-collision avoidance objective functions and their gradients directly from the KinectFusion model on the GPU without ever transferring any model to the CPU. Based on this, we implement a proof-of-concept motion planner [&hellip;]<\/p>\n","protected":false},"author":351,"featured_media":0,"comment_status":"open","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"_jetpack_memberships_contains_paid_content":false,"footnotes":"","jetpack_publicize_message":"","jetpack_publicize_feature_enabled":true,"jetpack_social_post_already_shared":false,"jetpack_social_options":{"image_generator_settings":{"template":"highway","default_image_id":0,"font":"","enabled":false},"version":2}},"categories":[36,11,89,3],"tags":[1787,1782,14,20,1306],"class_list":["post-9021","post","type-post","status-publish","format-standard","hentry","category-algorithms","category-computer-science","category-nvidia-cuda","category-paper","tag-algorithms","tag-computer-science","tag-cuda","tag-nvidia","tag-nvidia-geforce-gtx-680"],"views":3825,"jetpack_publicize_connections":[],"jetpack_featured_media_url":"","jetpack_sharing_enabled":true,"_links":{"self":[{"href":"https:\/\/hgpu.org\/index.php?rest_route=\/wp\/v2\/posts\/9021","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/hgpu.org\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/hgpu.org\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/hgpu.org\/index.php?rest_route=\/wp\/v2\/users\/351"}],"replies":[{"embeddable":true,"href":"https:\/\/hgpu.org\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=9021"}],"version-history":[{"count":0,"href":"https:\/\/hgpu.org\/index.php?rest_route=\/wp\/v2\/posts\/9021\/revisions"}],"wp:attachment":[{"href":"https:\/\/hgpu.org\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=9021"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/hgpu.org\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=9021"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/hgpu.org\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=9021"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}