著者

Nguyen Anh Cano Abraham Monrroy Edahiro Masato Kato Shinpei

出版者

富士技術出版株式会社

雑誌

Journal of Robotics and Mechatronics (ISSN:09153942)

巻号頁・発行日

vol.32, no.3, pp.548-560, 2020

被引用文献数

9

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<p>Clustering is the task of dividing an input dataset into groups of objects based on their similarity. This process is frequently required in many applications. However, it is computationally expensive when running on traditional CPUs due to the large number of connections and objects the system needs to inspect. In this paper, we investigate the use of NVIDIA graphics processing units and their programming platform CUDA in the acceleration of the Euclidean clustering (EC) process in autonomous driving systems. We propose GPU-accelerated algorithms for the EC problem on point cloud datasets, optimization strategies, and discuss implementation issues of each method. Our experiments show that our solution outperforms the CPU algorithm with speedup rates up to 87X on real-world datasets.</p>

著者

Komizunai Shunsuke Nishizaki Keisuke Wada Kyohei Kijima Takuya Konno Atsushi

出版者

富士技術出版株式会社

雑誌

Journal of Robotics and Mechatronics (ISSN:09153942)

巻号頁・発行日

vol.28, no.6, pp.790-798, 2016

被引用文献数

1

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<p>This paper describes a wearable encounter-type haptic device suitable for combined usage with a visual display. The features of the device lie in a driving mechanism that enables an encounter-type haptic display and the compact implementation of the entire device including the driving mechanism. The driving mechanism displays a natural haptic sense based on a smooth transition between follow-up and constraint of finger movements. The compactness is important because it contributes to preserving the quality of visual information when used together with a visual display. To test the basic performance of the device, the response of the driving mechanism was evaluated. The haptic display function was evaluated by a simulation in which the device is used to touch an object in a computer graphics (CG) space.</p>