• Journal of Sensor Science and Technology
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• v.7 no.2
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• pp.124-130
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• 1998

High-speed 3D vision systems are essential for autonomous robot or vehicle control applications. In our study, a stereo vision process has been developed. It consists of three steps : extraction of edges in right and left images, matching corresponding edges and calculation of the 3D map. This process is implemented in a VME 150/40 Imaging Technology vision system. It is a modular system composed by a display, an acquisition, a four Mbytes image frame memory, and three computational cards. Programmable accelerator computational modules are running at 40 MHz and are based on TMS320C31 DSP with a $64{\times}32$ bit instruction cache and two $1024{\times}32$ bit internal RAMs. Each is equipped with 512 Kbytes static RAM, 4 Mbytes image memory, 1 Mbytes flash EEPROM and a serial port. Data transfers and communications between modules are provided by three 8 bit global video bus, and three local configurable pipeline 8 bit video bus. The VME bus is dedicated to system management. Tasks between DSPs are distributed as follows: two DSPs are used to edges detection, one for the right image and the other for the left one. The last processor computes the matching process and the 3D calculation. With $512{\times}512$ pixels images, this sensor generates dense 3D maps at a rate of about 1 Hz depending of the scene complexity. Results can surely be improved by using a special suited multiprocessors cards.

• KIPS Transactions on Computer and Communication Systems
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• v.6 no.5
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• pp.219-230
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• 2017

General-Purpose Graphics Processing Units (GPGPUs) build massively parallel architecture and apply multithreading technology to explore parallelism. By using programming models like CUDA, and OpenCL, GPGPUs are becoming the best in exploiting plentiful thread-level parallelism caused by parallel applications. Unfortunately, modern GPGPU cannot efficiently utilize its available hardware resources for numerous general-purpose applications. One of the primary reasons is the inefficiency of existing warp/thread block schedulers in hiding long latency instructions, resulting in lost opportunity to improve the performance. This paper studies the effects of hardware thread scheduling policy on GPGPU performance. We propose a novel warp scheduling policy that can alleviate the drawbacks of the traditional round-robin policy. The proposed warp scheduler first classifies the warps of a thread block into two groups, warps with long latency and warps with short latency and then schedules the warps with long latency before the warps with short latency. Furthermore, to support the proposed warp scheduler, we also propose a supplemental technique that can dynamically reduce the number of streaming multiprocessors to which will be assigned thread blocks when encountering a high contention degree at the memory and interconnection network. Based on our experiments on a 15-streaming multiprocessor GPGPU platform, the proposed warp scheduling policy provides an average IPC improvement of 7.5% over the baseline round-robin warp scheduling policy. This paper also shows that the GPGPU performance can be improved by approximately 8.9% on average when the two proposed techniques are combined.