PCL Developers blog

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Design CUDA functions
Thursday, June 14, 2012
../../_images/gsoc125.png

Design CUDA functions based on PF on PCL and Kinfu.

  • ParticleXYZRPY, PointXYZRGB -> should be changed
  • Octree for search nearest point.
  • Random number generator for sampling.
  • Reduction step for ‘update’ function
  • After complete one period, I need to think about more general PF.
Studying particle filter on PCL
Wednesday, May 30, 2012
../../_images/gsoc125.png

Particle filter(PF) on PCL is little bit different with general algorithm.

PF on PCL it contains
  • resample - update each particles
  • weight - calc each particle weights based on coherence between reference cloud and query cloud
  • update - Update representative state of particles

In general PF, motion is given from system with uncertainty, but PF on PCL use camera motion calculated in prev frame.

Setting up environment
Wednesday, May 16, 2012
../../_images/gsoc125.png

I prefer Windows and visual studio for development. I also prepared Ubuntu and development tools (cmake, code, build, subversion tools).

I’m reading papers and text about particle filter.

  • Min-An Chao; Chun-Yuan Chu; Chih-Hao Chao; An-Yeu Wu, “Efficient parallelized particle filter design on CUDA,” Signal Processing Systems (SiPS), 2010 IEEE Workshop on Digital Object Identifier, pp.299-304

TODOs

  • Analysing particle filter and CUDA API on PCL
  • Writing draft headers for particle filter