SIMD and OpenMP optimization of EKF-SLAM

Author

Vincke, Bastien ; Elouardi, Abdelhafid ; Lambert, Andrew ; Dine, Abdelhamid

Author_Institution

Inst. d´Electron. Fondamentale, Univ. Paris-Sud, Orsay, France

fYear

2014

fDate

14-16 April 2014

Firstpage

712

Lastpage

716

Abstract

SLAM algorithms are widely used by autonomous robots operating in unknown environments. Several works have presented optimizations mainly focused on the algorithm complexity. New computing technologies (SIMD coprocessors, multicore architecture) can greatly accelerate the processing time but require rethinking the algorithm implementation. This paper presents an efficient implementation of the EKF-SLAM algorithm on an embedded system implementing OMAP multi-core architecture and SIMD optimizations. The aim is to optimize the algorithm implementation to improve the localization quality. Results demonstrate that an optimized implementation is always needed to achieve efficient performances and can help to design embedded systems implementing a low-cost multi-core architecture operating under real time constraints.

Keywords

Kalman filters; SLAM (robots); control engineering computing; coprocessors; message passing; mobile robots; multiprocessing systems; optimisation; parallel architectures; EKF-SLAM; OMAP multicore architecture; OpenMP optimization; SIMD coprocessor; SIMD optimization; autonomous robot; embedded system; low-cost multicore architecture; Computer architecture; Coprocessors; Estimation; Optimization; Robot sensing systems; Vectors; EKF-SLAM; OMAP architecture; multi-core implementation;

fLanguage

English

Publisher

ieee

Conference_Titel

Multimedia Computing and Systems (ICMCS), 2014 International Conference on

Conference_Location

Marrakech

Print_ISBN

978-1-4799-3823-0

Type

conf

DOI

10.1109/ICMCS.2014.6911157

Filename

6911157