Abstract
The GPU-Services project fits into the context of research and development of methods for data processing of three-dimensional sensors data applied to mobile robotics and intelligent vehicles. The implemented methods are called services on this project, which provide 3D point clouds pre-processing algorithms, such as, data alignment, segmentation of safe/unsafe navigable zones (e.g. separating ground from obstacles and borders/curbs) and elements of interest detection. Due to the large amount of data provided by the sensors to be processed in a very short time, these services use the GPU (NVidia CUDA) to perform partial or complete parallel processing of these data. The project aims to provide data processing services to an autonomous car, forcing the services to approach real-time processing, which is defined as completing all data processing routines before the arrival of the sensor’s next frame. This work was implemented considering 3D data acquired from a LIDAR, more specifically from a Velodyne HDL-32. The sensor data is structured in the form of a cloud of three-dimensional points, allowing for great parallel processing. However, the major challenge is the high rate of data received from this sensor (around 700,000 points/sec or 70.000 points/frame at 10 Hz), which gives the motivation of this project: to use the full potential of sensor and to efficiently use the parallelism of GPU programming. The GPU services are divided into four steps: The first step is an intelligent extraction, reorganization and spacial correction of the data provided by the Velodyne multi-layer laser sensor; The second stage is the segmentation of planar data; The third stage is object segmentation; The fourth stage is to develop a methodology that unite the results from the previous steps in order to better detect the curbs. The services were implemented and the performance was evaluated using traditional sequential data processing (CPU data processing) and parallel data processing (GPU CUDA implementations). Besides that, different NVidia GPUs were also tested, allowing us to process the acquired data much faster than using the CPUs, and in some cases faster than it was provided by the Velodyne sensor.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Birant, D., Kut, A.: ST-DBSCAN: an algorithm for clustering spatial-temporal data. Data Knowl. Eng. 60, 208–221 (2007)
Buehler, M., Iagnemma, K., Singh, S.: The DARPA Urban Challenge: Autonomous Vehicles in City Traffic. Springer, Berlin (2009)
Dias, S., Bora, K., Gomes, A.: CUDA-based triangulations of convolution molecular surfaces. In: Proceedings of the 19th ACM International Symposium on High Performance Distributed Computing, HPDC 2010, pp. 531–540. ACM, New York (2010). http://doi.acm.org/10.1145/1851476.1851553. ISBN: 978-1-60558-942-8
Fenton, R.E., Cosgriff, R.L., Olson, K., Blackwell, L.M.: One approach to highway automation. Proc. IEEE 56, 556–566 (1968)
Fernandes, L., Souza, J., Pessin, G., Shinzato, P., Sales, D., Mendes, C., Prado, M., Klaser, R., Magalhães, A.C., Hata, A., Pigatto, D., Branco, K.C., Grassi Jr., V., Osorio, F.S., Wolf, D.: CaRINA intelligent robotic car: architectural design and applications. J. Syst. Archit. 60, 372–392 (2014)
Biermeyer, J.O., Templeton, T.R., Berger, C., Gonzalez, H., Naikal, N., Rumpe, B., Shankar, S.S.: Rapid integration and calibration of new sensors using the Berkeley Aachen Robotics Toolkit (BART). In: AAET - Automatisierungssysteme, Assistenzsysteme und eingebettete Systeme für Transportmittel: Beiträge zum gleichnamigen 11. Braunschweiger Symposium vom 10. und 11. Februar 2010, Deutsches Zentrum für Luft- und Raumfahrt e.V. am Forschungsflughafen, Braunschweig/Intelligente Transport- und Verkehrssysteme und - dienste Niedersachsen e.V. (Hrsg.), ITS Niedersachsen, Braunschweig (2010). http://publications.rwth-aachen.de/record/126284. Pages 17 S
Guizzo, E.: How google’s self-driving car works, October 2011
Habermann, D., Silva, R., Wolf, D., Osorio, F.: Detecção e classificação de objetos com uso de sensor laser para aplicações em veículos autônomos terrestres. In: XV Simpósio de Aplicações Operacionais em Áreas de Defesa (SIGE), pp. 55–59. DCTA-ITA (2013)
Hata, A.Y., Habermann, D., Osorio, F.S., Wolf, D.F.: Road geometry classification using ANN. In: 2014 IEEE Intelligent Vehicles Symposium Proceedings, pp. 1319–1324. IEEE (2014)
Hata, A.Y., Osorio, F.S., Wolf, D.F.: Robust curb detection and vehicle localization in urban environments. In: 2014 IEEE Intelligent Vehicles Symposium Proceedings, pp. 1257–1262. IEEE (2014)
Henderson, T.C., Minor, M., Drake, S., Quist, J., Roberts, J., Sani, H., Rasmussen, M., Collins, A., Sun, Y., Fan, X., Louis, St., Mikuriya, S., Dean, K.: Robust autonomous vehicles DARPA urban challenge. DARPA Grand Challenge Tech Papers (2007)
Langdon, W.B.: Performing with CUDA. ACM (2011)
Luettel, T., Himmelsbach, M., Wuensche, H.J.: Autonomous ground vehicles: concepts and a path to the future. Proc. IEEE 100, 1831–1839 (2012)
Montemerlo, M., Becker, J., Bhat, S., Dahlkamp, H., Dolgov, D., Ettinger, S., Haehnel, D., Hilden, T., Hoffmann, G., Huhnke, B., Johnston, D., Langer, D., Lev, A., Levinson, J., Marcil, J., Orenstein, D., Paefgen, J., Penny, I., Petrovskaya, A., Pflueger, M., Stanek, G., Stavens, D., Vogt, A., Thrun, S.: Junior: the stanford entry in the urban challenge. In: Buehler, M., Iagnemma, K., Singh, S. (eds.) The DARPA Urban Challenge. Springer, Heidelberg (2007)
Sales, D.O., Correa, D.O., Fernandes, L.C., Wolf, D.F., Osório, F.S.: Adaptive finite state machine based visual autonomous navigation system. Eng. Appl. Artif. Intell. 29, 152–162 (2014). doi:10.1016/j.engappai.2013.12.006
Shane, R., Rodrigues, C.I., Baghsorkhi, S.S., Stone, S.S., Kirk, D.B., Hwu, W.W.: Optimization principles and application performance evaluation of a multithreaded GPU using CUDA. In: Proceedings of the 13th ACM SIGPLAN Symposium on Principles and Practice of Parallel Programming, PPoPP 2008, pp. 73–82. ACM, New York, NY, USA (2008). http://doi.acm.org/10.1145/1345206.1345220. ISBN: 978-1-59593-795-7
Shinzato, P.: Estimação de obstáculos e área de pista com pontos 3D esparsos. CCMC-ICMC-USP, USP São Carlos, Brazil (2015)
Russ, J.C.: Image Processing Handbook, 6th edn. CRC Press, Inc., Boca Raton (2016). ISBN: 978-1-4398-4063-4 (Ebook-PDF)
Thrun, S., Montemerl, M., Dahlkamp, H., Stavens, D., Aron, A., Diebel, J., Fong, P., Gale, J., Halpenny, M.: The robot that won the darpa grand challenge. J. Field Robot. 23, 661–692 (2006)
Troniak, D.M.: PR2 rides the elevator - a problem in vision-based localization (2012)
Acknowledgment
This project was financially supported by Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP), Process #2013/13880-9. The CaRINA Project (Autonomous Vehicle and Sensors) was also financially supported by CNPq, FAPESP and INCT-SEC. We also acknowledge the support granted by the LRM Laboratory - ICMC/USP.
Author information
Authors and Affiliations
Corresponding authors
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2016 Springer International Publishing AG
About this paper
Cite this paper
Christino, L., Osório, F. (2016). GPU-Services: GPU Based Real-Time Processing of 3D Point Clouds Applied to Robotic Systems and Intelligent Vehicles. In: Santos Osório, F., Sales Gonçalves, R. (eds) Robotics. SBR LARS 2016 2016. Communications in Computer and Information Science, vol 619. Springer, Cham. https://doi.org/10.1007/978-3-319-47247-8_10
Download citation
DOI: https://doi.org/10.1007/978-3-319-47247-8_10
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-47246-1
Online ISBN: 978-3-319-47247-8
eBook Packages: Computer ScienceComputer Science (R0)