Abstract
In robotic applications, there is a growing trend for developing human-like real-time interaction capabilities. A good example can be found in Simultaneous localization and mapping technique, where a robot or an autonomous vehicle builds up a map within an unknown environment while at the same time keeping track of its current position. Especially in indoor environments, wall detection is often a critical part of SLAM: it plays a key role in scene interpretation and 3D workspace modeling. Further, it also reduces the size of the map. This paper presents an effective and real-time approach for detecting walls in indoor environment using GPU (graphics processing unit). The experimental results show the feasibility of using GPU as a coprocessor in robotic applications.
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© 2007 Springer-Verlag Berlin Heidelberg
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Moradi, H., Kwon, E., Sohn, D.N., Han, J. (2007). A Real-Time GPU-Based Wall Detection Algorithm for Mapping and Navigation in Indoor Environments. In: Smith, M.J., Salvendy, G. (eds) Human Interface and the Management of Information. Interacting in Information Environments. Human Interface 2007. Lecture Notes in Computer Science, vol 4558. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-73354-6_117
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DOI: https://doi.org/10.1007/978-3-540-73354-6_117
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-73353-9
Online ISBN: 978-3-540-73354-6
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