Search
Publication Authors

Prof. Dr. Didier Stricker

Dr. Alain Pagani

Dr. Gerd Reis

Eric Thil

Keonna Cunningham

Dr. Oliver Wasenmüller

Dr. Muhammad Zeshan Afzal

Dr. Gabriele Bleser

Dr. Muhammad Jameel Nawaz Malik
Dr. Bruno Mirbach

Dr. Jason Raphael Rambach

Dr. Nadia Robertini

Dr. René Schuster

Dr. Bertram Taetz

Ahmed Aboukhadra

Sk Aziz Ali

Mhd Rashed Al Koutayni

Yuriy Anisimov

Jilliam Maria Diaz Barros

Ramy Battrawy
Hammad Butt

Mahdi Chamseddine

Steve Dias da Cruz
Fangwen Shu

Torben Fetzer

Ahmet Firintepe
Sophie Folawiyo

David Michael Fürst

Christiano Couto Gava

Tewodros Amberbir Habtegebrial
Simon Häring

Khurram Azeem Hashmi
Henri Hoyez

Jigyasa Singh Katrolia

Andreas Kölsch
Onorina Kovalenko

Stephan Krauß
Paul Lesur

Michael Lorenz

Dr. Markus Miezal

Mina Ameli

Nareg Minaskan Karabid

Mohammad Minouei

Pramod Murthy

Mathias Musahl

Peter Neigel

Manthan Pancholi
Mariia Podguzova

Praveen Nathan
Qinzhuan Qian
Rishav
Marcel Rogge
María Alejandra Sánchez Marín
Dr. Kripasindhu Sarkar

Alexander Schäfer

Pascal Schneider

Mohamed Selim

Tahira Shehzadi
Lukas Stefan Staecker

Yongzhi Su

Xiaoying Tan
Christian Witte

Yaxu Xie

Vemburaj Yadav

Dr. Vladislav Golyanik

Dr. Aditya Tewari

André Luiz Brandão
Publication Archive
New title
- ActivityPlus
- AlterEgo
- AR-Handbook
- ARVIDA
- Auroras
- AVILUSplus
- Be-greifen
- Body Analyzer
- CAPTURE
- COGNITO
- DAKARA
- Density
- DYNAMICS
- EASY-IMP
- Eyes Of Things
- iACT
- IMCVO
- IVMT
- LARA
- LiSA
- Marmorbild
- Micro-Dress
- Odysseus Studio
- On Eye
- OrcaM
- PAMAP
- PROWILAN
- ServiceFactory
- STREET3D
- SUDPLAN
- SwarmTrack
- TuBUs-Pro
- VIDETE
- VIDP
- VisIMon
- VISTRA
- You in 3D
Particle Filtering: The Need for Speed
Particle Filtering: The Need for Speed
Gustaf Hendeby, Rickard Karlsson, Fredrik Gustafsson
Article
- Abstract:
- The particle filter (PF) has during the last decade been proposed for a wide range of localization and tracking applications. There is a general need in such embedded system to have a platform for efficient and scalable implementation of the PF. One such platform is the graphics processing unit (GPU), originally aimed to be used for fast rendering of graphics. To achieve this, GPUs are equipped with a parallel architecture which can be exploited for general-purpose computing on GPU (GPGPU) as a complement to the central processing unit (CPU). In this paper, GPGPU techniques are used to make a parallel recursive Bayesian estimation implementation using particle filters. The modifications made to obtain a parallel particle filter, especially for the resampling step, are discussed and the performance of the resulting GPU implementation is compared to the one achieved with a traditional CPU implementation. The comparison is made using a minimal sensor network with bearings-only sensors. The resulting GPU filter, which is the first complete GPU implementation of a PF published to this date, is faster than the CPU filter when many particles are used, maintaining the same accuracy. The parallelization utilizes ideas that can be applicable for other applications.