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首页> 外文会议>EUSIPCO 2007;European signal processing conference >A GRAPHICS PROCESSING UNIT IMPLEMENTATION OF THE PARTICLE FILTER
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A GRAPHICS PROCESSING UNIT IMPLEMENTATION OF THE PARTICLE FILTER

机译：粒子过滤器的图形处理单元实现

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摘要

Modern graphics cards for computers, and especially theirrngraphics processing units (GPUs), are designed for fast renderingrnof graphics. In order to achieve this GPUs arernequipped with a parallel architecture which can be exploitedrnfor general-purpose computing on GPU (GPGPU) as a complementrnto the central processing unit (CPU). In this paperrnGPGPU techniques are used to make a parallel GPU implementationrnof state-of-the-art recursive Bayesian estimationrnusing particle filters (PF). The modifications made to obtainrna parallel particle filter, especially for the resampling step,rnare discussed and the performance of the resulting GPU implementationrnis compared to one achieved with a traditionalrnCPU implementation. The resulting GPU filter is faster withrnthe same accuracy as the CPU filter for many particles, andrnit shows how the particle filter can be parallelized.
机译：用于计算机的现代图形卡，尤其是其图形处理单元（GPU），设计用于快速渲染图形。为了实现这一目标，GPU配备有并行体系结构，可以将其用于GPU上的通用计算（GPGPU），作为对中央处理器（CPU）的补充。在本文中，GPGPU技术用于使用粒子滤波器（PF）进行最先进的递归贝叶斯估计的并行GPU实现。讨论了对获取并行粒子滤波器所做的修改，特别是对于重采样步骤，并讨论了与传统CPU实现相比所得GPU实现的性能。对于许多粒子，生成的GPU过滤器速度更快，精度与CPU过滤器相同，并且rnit显示了如何并行化粒子过滤器。

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  • 来源
  • 会议地点 Poznan(PL);Poznan(PL)
  • 作者

    Gustaf Hendeby; Jeroen D. Hol; Rickard Karlsson; Fredrik Gustafsson;

  • 作者单位

    Department of Electrical EngineeringrnAutomatic ControlrnLink?ping University, Sweden hendeby@isy.liu.se;

    rnDepartment of Electrical EngineeringrnAutomatic ControlrnLink?ping University, Sweden hol@isy.liu.se;

    rnDepartment of Electrical EngineeringrnAutomatic ControlrnLink?ping University, Sweden rickard@isy.liu.se;

    rnDepartment of Electrical EngineeringrnAutomatic ControlrnLink?ping University, Sweden fredrik@isy.liu.se;

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  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类 通信理论;
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