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http://dx.doi.org/10.5391/JKIIS.2010.20.5.688

GPU based Fast Recognition of Artificial Landmark for Mobile Robot  

Kwon, Oh-Sung (서경대학교 전자공학과)
Kim, Young-Kyun (서경대학교 전자공학과)
Cho, Young-Wan (서경대학교 전자공학과)
Seo, Ki-Sung (서경대학교 전자공학과)
Publication Information
Journal of the Korean Institute of Intelligent Systems / v.20, no.5, 2010 , pp. 688-693 More about this Journal
Abstract
Vision based object recognition in mobile robots has many issues for image analysis problems with neighboring elements in dynamic environments. SURF(Speeded Up Robust Features) is the local feature extraction method of the image and its performance is constant even if disturbances, such as lighting, scale change and rotation, exist. However, it has a difficulty of real-time processing caused by representation of high dimensional vectors. To solve th problem, execution of SURF in GPU(Graphics Processing Unit) is proposed and implemented using CUDA of NVIDIA. Comparisons of recognition rates and processing time for SURF between CPU and GPU by variation of robot velocity and image sizes is experimented.
Keywords
Object recognition; mobile robot; SURF; CUDA;
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