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Exploiting Clutter: Negative Information for Enhanced Extended Object Tracking

Zea, A. 1; Faion, F. 1; Hanebeck, U. D. 1
1 Institut für Anthropomatik und Robotik (IAR), Karlsruher Institut für Technologie (KIT)

Abstract:

Since the last years, Graphics Processing Units (GPUs) have massive parallel execution capabilities even for non-graphic related applications. The field of nonlinear state estimation is no exception here. Particle Filters have already been successfully ported to GPUs. In this paper, we propose a GPU-accelerated variant of the Progressive Gaussian Filter (PGF). This allows us to combine the advantages of the particle flow with the ability to process thousands of measurements at once in order to improve state estimation quality. To get a meaningful comparison between its CPU and GPU variants, we additionally propose a likelihood for tracking a sphere and its extent in 3D based on noisy point measurements. The likelihood considers the physical relationship between sensor, measurement, and sphere to best exploit the information of the received measurements. We evaluate the GPU implementation of the PGF using the proposed likelihood in combination with tens of thousands of measurements. Although the CPU implementation fully exploits parallelization techniques such as SSE and OpenMP, the GPU-accelerated PGF reaches speedups over 20 and real-time tracking can nearly be achieved.


Scopus
Zitationen: 9
Zugehörige Institution(en) am KIT Institut für Anthropomatik und Robotik (IAR)
Publikationstyp Proceedingsbeitrag
Publikationsjahr 2015
Sprache Englisch
Identifikator ISBN: 978-0-9824-4386-6
KITopen-ID: 1000050855
Erschienen in Proceedings of the 18th International Conference on Information Fusion (Fusion 2015), 6-9 July 2015, Washington D. C., USA
Verlag Institute of Electrical and Electronics Engineers (IEEE)
Seiten 1030-1037
Nachgewiesen in Scopus
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