Title :
Softassign and EM-ICP on GPU
Author :
Tamaki, Toru ; Abe, Miho ; Raytchev, Bisser ; Kaneda, Kazufumi
Author_Institution :
Hiroshima Univ., Hiroshima, Japan
Abstract :
In this paper we propose CUDA-based implementations of two 3D point sets registration algorithms: Soft assign and EM-ICP. Both algorithms are known for being time demanding, even on modern multi-core CPUs. Our GPUbased implementations vastly outperform CPU ones. For instance, our CUDA EM-ICP aligns 5000 points in less than 7 seconds on a GeForce 8800GT, while the same implementation in OpenMP on an Intel Core 2 Quad would take 7 minutes.
Keywords :
computer graphic equipment; coprocessors; image registration; iterative methods; multiprocessing systems; parallel architectures; 3D point sets registration algorithms:; CUDA; EM-ICP; GPU; Intel core 2 Quad; OpenMP; multicore CPU; softassign; 3D points; CUDA; EM-ICP; GPU; ICP; Softassign; point cloud; registration;
Conference_Titel :
Networking and Computing (ICNC), 2010 First International Conference on
Conference_Location :
Higashi-Hiroshima
Print_ISBN :
978-1-4244-8918-3
Electronic_ISBN :
978-0-7695-4277-5
DOI :
10.1109/IC-NC.2010.60
