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Real-time multitarget tracking for sensor-based sorting – A new implementation of the auction algorithm for graphics processing units

Maier, Georg; Pfaff, Florian 1; Wagner, Matthias; Pieper, Christoph; Gruna, Robin; Noack, Benjamin 1; Kruggel-Emden, Harald; Längle, Thomas; Hanebeck, Uwe D. 1; Wirtz, Siegmar; Scherer, Viktor; Beyerer, Jürgen
1 Graduiertenkolleg 1126: Intelligente Chirurgie (Graduiertenkolleg 1126), Karlsruher Institut für Technologie (KIT)


Utilizing parallel algorithms is an established way of increasing performance in systems that are bound to real-time restrictions. Sensor-based sorting is a machine vision application for which firm real-time requirements need to be respected in order to reliably remove potentially harmful entities from a material feed. Recently, employing a predictive tracking approach using multitarget tracking in order to decrease the error in the physical separation in optical sorting has been proposed. For implementations that use hard associations between measurements and tracks, a linear assignment problem has to be solved for each frame recorded by a camera. The auction algorithm can be utilized for this purpose, which also has the advantage of being well suited for parallel architectures. In this paper, an improved implementation of this algorithm for a graphics processing unit (GPU) is presented. The resulting algorithm is implemented in both an OpenCL and a CUDA based environment. By using an optimized data structure, the presented algorithm outperforms recently proposed implementations in terms of speed while retaining the quality of output of the algorithm. ... mehr

Verlagsausgabe §
DOI: 10.5445/IR/1000104949
Veröffentlicht am 14.01.2020
DOI: 10.1007/s11554-017-0735-y
Zitationen: 14
Web of Science
Zitationen: 12
Zitationen: 14
Cover der Publikation
Zugehörige Institution(en) am KIT Institut für Anthropomatik und Robotik (IAR)
Publikationstyp Zeitschriftenaufsatz
Publikationsmonat/-jahr 12.2019
Sprache Englisch
Identifikator ISSN: 1861-8200, 1861-8219
KITopen-ID: 1000104949
Erschienen in Journal of real-time image processing
Verlag Springer
Band 16
Heft 6
Seiten 2261–2272
Vorab online veröffentlicht am 20.11.2017
Schlagwörter Linear assignment problem, Sensor-based sorting, Parallel algorithm, Graphics processing unit
Nachgewiesen in Scopus
Web of Science
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