3D/6DOF Particle Filtering Location Algorithm Based on GPU Parallel Acceleration

Yuhang Yang*, Weimin Zhang, Fangxing Li, Di Zhang, Yonghui Liu

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

Autonomous navigation ability is considered to be one of the important functions of intelligent mobile robot system. The localization method based on particle filter is widely used in the localization field of mobile robot. Under the background of traditional single thread computing method, the positioning accuracy and real-time performance of particle filter location algorithm are often difficult to be guaranteed simultaneously. To solve this problem, we propose to use graphics processing units (GPU) to carry out large-scale parallel computation on particles, so as to achieve the acceleration effect. Specifically, we analyse the parallelism of the prediction, observation and resampling aspects of the mcl-3dl algorithm, and do parallel acceleration of the particle weight update in the observation part. The acceleration effect of the proposed algorithm was tested in pose tracking experiments and global localization experiments. The results show that the particle weight updating speed of the algorithm in indoor scene and outdoor scene is improved by 16.7% and 37.8%, respectively. In the indoor corridor scene, the convergence speed of the global localization is increased by 29.1%.

Original languageEnglish
Title of host publication2023 IEEE International Conference on Mechatronics and Automation, ICMA 2023
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1527-1532
Number of pages6
ISBN (Electronic)9798350320831
DOIs
Publication statusPublished - 2023
Event20th IEEE International Conference on Mechatronics and Automation, ICMA 2023 - Harbin, Heilongjiang, China
Duration: 6 Aug 20239 Aug 2023

Publication series

Name2023 IEEE International Conference on Mechatronics and Automation, ICMA 2023

Conference

Conference20th IEEE International Conference on Mechatronics and Automation, ICMA 2023
Country/TerritoryChina
CityHarbin, Heilongjiang
Period6/08/239/08/23

Keywords

  • parallel optimization
  • particle filter
  • pose estimation

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Yang, Y., Zhang, W., Li, F., Zhang, D., & Liu, Y. (2023). 3D/6DOF Particle Filtering Location Algorithm Based on GPU Parallel Acceleration. In 2023 IEEE International Conference on Mechatronics and Automation, ICMA 2023 (pp. 1527-1532). (2023 IEEE International Conference on Mechatronics and Automation, ICMA 2023). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICMA57826.2023.10215779