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3D Modeling, Distance and Gradient Computation for Motion Planning: A Direct GPGPU Approach

Wagner, René and Frese, Udo and Bäuml, Berthold (2013) 3D Modeling, Distance and Gradient Computation for Motion Planning: A Direct GPGPU Approach. In: IEEE International Conference on Robotics and Automation (ICRA). IEEE International Conference on Robotics and Automation, Karlsruhe, Germany.

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Abstract

The Kinect sensor and KinectFusion algorithm have revolutionized environment modeling. We bring these advances to optimization-based motion planning by computing the obstacle and self-collision avoidance objective functions and their gradients directly from the KinectFusion model on the GPU without ever transferring any model to the CPU. Based on this, we implement a proof-of-concept motion planner which we validate in an experiment with a 19-DOF humanoid robot using real data from a tabletop work space. The summed-up time from taking the first look at the scene until the planned path avoiding an obstacle on the table is executed is only three seconds.

Item URL in elib:https://elib.dlr.de/85271/
Document Type:Conference or Workshop Item (Speech)
Title:3D Modeling, Distance and Gradient Computation for Motion Planning: A Direct GPGPU Approach
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Wagner, Renérene.wagner (at) dlr.deUNSPECIFIED
Frese, Udoudo.frese (at) dfki.deUNSPECIFIED
Bäuml, Bertholdberthold.baeuml (at) dlr.deUNSPECIFIED
Date:2013
Journal or Publication Title:IEEE International Conference on Robotics and Automation (ICRA)
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:Yes
Status:Published
Keywords:kinect motionplanning optimization humanoid robot justin gpgpu gpu cuda
Event Title:IEEE International Conference on Robotics and Automation
Event Location:Karlsruhe, Germany
Event Type:international Conference
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Terrestrische Assistenz-Robotik
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Autonomy and Teleoperation
Deposited By: Wagner, Rene
Deposited On:17 Dec 2013 09:50
Last Modified:31 Jul 2019 19:42

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