D Sensor-Based Obstacle Detection Comparing Octrees and Point clouds Using CUDA

• DOI: 10.4173/mic.2012.4.1
• Publication Date: 2013-01-21T17:21:53Z
• Authors: K.B. Kaldestad; G. Hovland; D.A. Anisi
• Keywords: Collision Detection; Electronic computers. Computer science; GPU; 0202 electrical engineering, electronic engineering, information engineering; Industrial Robot; QA75.5-76.95; 02 engineering and technology

This paper presents adaptable methods for achieving fast collision detection using the GPU and Nvidia CUDA together with Octrees.Earlier related work have focused on serial methods, while this a parallel solution which shows that there is great increase in time if number of operations large.Two different models environment industrial robot are presented, first Octrees at resolutions, second point cloud representation.The relative merits two world model representations shown.In particular, experimental results show potential adapting resolution to task hand.