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| Presentation | 2017-09-05 10:00 Acceleration of self-localization of autonomous AGV using image composition by GPGPU on a mobile terminal Yuki Higa, Hiroyuki Sato (Iwate Prefectural Univ.)  ITS2017-11 |
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| Abstract | (in Japanese) | (See Japanese page) |
| (in English) | Recording the position of the AGV (Automated Guided Vehicle) in the bird's-eye view image using image processing is an effective means as a self-position estimation method of AGV autonomously running in the factory. However, it was a problem that the real time property could be impaired due to the size of the calculation amount. In this research, as an application that runs on the Android terminal "SHIELD Tablet" equipped with the Tegra K1 processor compatible with CUDA computing, we implemented a function to synthesize the photographed image ahead of the AGV and estimate its own position. In addition, by applying GPGPU to the parallel executable process, compared to Android Java, it was confirmed that the speed of image processing was about twice as fast. |
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| Keyword | (in Japanese) | (See Japanese page) |
| (in English) | AGV(Automated Guided Vehicle) / Android / CUDA / GPGPU / Image processing / Localization / / | |
| Reference Info. | IEICE Tech. Rep., vol. 117, no. 203, ITS2017-11, pp. 53-58, Sept. 2017. | |
| Paper # | ITS2017-11 | |
| Date of Issue | 2017-08-28 (ITS) | |
| ISSN | Print edition: ISSN 0913-5685 Online edition: ISSN 2432-6380 | |
| Copyright and reproduction |
All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034) | |
| Download PDF | ITS2017-11 |
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| Conference Information | |
| Committee | ITS IPSJ-ITS IEE-ITS |
| Conference Date | 2017-09-04 - 2017-09-05 |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | Toyama Institute of Information Systems |
| Topics (in Japanese) | (See Japanese page) |
| Topics (in English) | Traffic Measurement, etc. |
| Paper Information | |
| Registration To | ITS |
| Conference Code | 2017-09-ITS-ITS-ITS |
| Language | Japanese |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Acceleration of self-localization of autonomous AGV using image composition by GPGPU on a mobile terminal |
| Sub Title (in English) | |
| Keyword(1) | AGV(Automated Guided Vehicle) |
| Keyword(2) | Android |
| Keyword(3) | CUDA |
| Keyword(4) | GPGPU |
| Keyword(5) | Image processing |
| Keyword(6) | Localization |
| Keyword(7) | |
| Keyword(8) | |
| 1st Author's Name | Yuki Higa |
| 1st Author's Affiliation | Iwate Prefectural University (Iwate Prefectural Univ.) |
| 2nd Author's Name | Hiroyuki Sato |
| 2nd Author's Affiliation | Iwate Prefectural University (Iwate Prefectural Univ.) |
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| Speaker | Author-1 |
| Date Time | 2017-09-05 10:00:00 |
| Presentation Time | 25 minutes |
| Registration for | ITS |
| Paper # | ITS2017-11 |
| Volume (vol) | vol.117 |
| Number (no) | no.203 |
| Page | pp.53-58 |
| #Pages | 6 |
| Date of Issue | 2017-08-28 (ITS) |
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