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Accurate Global Point Cloud Registration Using GPU-Based Parallel Angular Radon Spectrum.

Ernesto Fontana¹, Dario Lodi Rizzini^1,2

¹Department of Engineering and Architecture, University of Parma, Parco Area delle Scienze 181/A, 43124 Parma, Italy.

Sensors (Basel, Switzerland)

|October 28, 2023

Summary

This study introduces Cud-ARS, a GPU-accelerated algorithm that significantly speeds up robot localization and mapping by optimizing the Angular Radon Spectrum (ARS) calculation. It achieves faster, more accurate 2D registration for robotic tasks.

Keywords:

GPU mapping parallel processing registration

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Area of Science:

Robotics
Computer Vision
Parallel Computing

Background:

Accurate robot localization and mapping are crucial for autonomous systems.
Globally optimal registration methods, such as the Angular Radon Spectrum (ARS), offer improved accuracy.
Computational cost of ARS limits its widespread application.

Purpose of the Study:

To present Cud-ARS, an efficient, parallelized variant of the ARS algorithm for 2D registration.
To leverage Nvidia Graphics Processing Units (GPUs) for accelerating computationally intensive steps.
To improve the accuracy and speed of robot localization and mapping.

Main Methods:

Developed Cud-ARS for parallel computation of ARS on GPUs using point subsets.
Implemented a global branch-and-bound method for translation estimation.
Tested the algorithm on multiple datasets for performance evaluation.

Main Results:

Achieved a speed-up of two orders of magnitude compared to existing methods.
Demonstrated more accurate rotation estimation than state-of-the-art correspondence-based algorithms.
Validated the approach's effectiveness in mapping applications.

Conclusions:

Cud-ARS offers a significant speed-up and improved accuracy for 2D registration.
GPU programming is a viable approach for efficient robotic task solutions.
The method shows strong potential for enhancing robot localization and mapping systems.