| Presentation | 2017-09-05 Acceleration of self-localization of autonomous AGV using image composition by GPGPU on a mobile terminal Yuki Higa, Hiroyuki Sato, |
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| PDF Download Page |  PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(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. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | AGV(Automated Guided Vehicle) / Android / CUDA / GPGPU / Image processing / Localization |
| Paper # | ITS2017-11 |
| Date of Issue | 2017-08-28 (ITS) |
| Conference Information | |
| Committee | ITS / IPSJ-ITS / IEE-ITS |
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| Conference Date | 2017/9/4(2days) |
| 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. |
| Chair | Takayoshi Yokota(Tottori Univ.) / 清原 良三(神奈川工科大学) / 浜松 芳夫(日本大学) |
| Vice Chair | Masahiro Fujii(Utsunomiya Univ.) / Tomotaka Wada(Kansai Univ.) |
| Secretary | Masahiro Fujii(Meiji Univ.) / Tomotaka Wada(Saitama Univ.) / (静岡大学) / (静岡大学) |
| Assistant | Msataka Imao(ME) / Yanlei Gu(Univ. of Tokyo) / Kenshi Saho(Toyama Prefectural Univ.) / Kouichiro Hashiura(Akita Prefectural Univ.) / 尾崎 信之(東芝) / 高橋 友彰(日本大学) |
| Paper Information | |
| Registration To | Technical Committee on Intelligent Transport Systems Technology / Special Interest Group on Intelligent Transport Systems and Smart Community / Technical Meeting on Intelligent Transport Systems |
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| Language | JPN |
| 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 |
| 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.) |
| Date | 2017-09-05 |
| Paper # | ITS2017-11 |
| Volume (vol) | vol.117 |
| Number (no) | ITS-203 |
| Page | pp.pp.53-58(ITS), |
| #Pages | 6 |
| Date of Issue | 2017-08-28 (ITS) |