Slides - Geometric Algorithms for Modeling, Motion, and Animation

More documents

Recommendations

Info

Timing Results: Collision Checking • Compared with basic GPU method [Lauterbach et al. 2010] 50000 collision queries Basic GPU Collision-‐packet Workload Balancing Traverse balance Piano 224 130 68 3.7 Large-‐piano 710 529 155 15.1 Helicopter 272 226 56 2.3 Humanoid 2316 1823 337 126
Page 1 and 2:
Real-‐Time Mo,on Planning and H
Page 4 and 5:
Sample-‐based Planners • Coll
Page 6 and 7:
Prior work on collision checking
Page 8 and 9:
Mo9on Planning for Physical Robots
Page 10 and 11:
Mo9on Planning for Physical Robots
Page 12 and 13:
Robot Sensors: Data Collec,on Camer
Page 14 and 15:
Demonstra,on of Point Cloud Data In
Page 16 and 17:
Kinect Sensors http://graphics.stan
Page 18 and 19:
Handling Noisy Point Cloud Data •
Page 20 and 21:
Errors in Point Clouds Position err
Page 22 and 23: Handling Point Cloud Collision: Two
Page 24 and 25: Mesh Reconstruc,on => Collision •
Page 26 and 27: Classifica,on-‐based Collision
Page 28 and 29: Standard SVM Robust Classifica,on R
Page 30 and 31: Probabilis,c Collision between Two
Page 32 and 33: Results: Small Noise Deep Collision
Page 34 and 35: PR2 Robot Sensor Results Deep Colli
Page 36 and 37: Benefit • Speed is comparable to
Page 38 and 39: Mobile Manipulators: Onboard Comput
Page 40 and 41: Real-‐,me Mo,on Planning • Co
Page 42 and 43: Current GPU Architectures Host Grid
Page 44 and 45: GPGPU: GPUs for non-‐graphics a
Page 46 and 47: Probabilis,c Roadmap Method • Use
Page 48 and 49: Our GPU-‐based Pipeline
Page 50 and 51: Parallel Sampling • Real parallel
Page 52 and 53: BoBlenecks • High number of colli
Page 54 and 55: • Construct BVH on GPU BVH Constr
Page 56 and 57: GPU-‐based Parallel Algorithms
Page 58 and 59: GPU Memory Model • Shared memory
Page 60 and 61: Our Solu,ons • Parallel Collision
Page 62 and 63: Query Clustering • Find clusters
Page 64 and 65: Parallel Collision Query with Workl
Page 66 and 67: Core 1 Task 0 Task i External Task
Page 68 and 69: K-‐nearest neighbor computa,on
Page 70 and 71: Graph Search • Currently perform
Page 74 and 75: Timing Results: Local Planning •
Page 76 and 77: PRM Mo,on Planning on GPUs • 100x
Page 78 and 79: Preliminary Results • Scalability
Page 80 and 81: Results
Page 83 and 84: Conclusions & Future Work • Colli
Page 85: Thanks
show all

Slides - Geometric Algorithms for Modeling, Motion, and Animation

Create successful ePaper yourself

Delete template?

Save as template?