Parallelized Flight Path Prediction using a Graphics Processing Unit

Maximilian Götzinger, Martin Pongratz, Amir M. Rahmani, Axel Jantsch

2017

Abstract

Summarized under the term Transport-by-Throwing, robotic arms throwing objects to each other are a visionary system intended to complement the conventional, static conveyor belt. Despite much research and many novel approaches, no fully satisfactory solution to catch a ball with a robotic arm has been developed so far. A new approach based on memorized trajectories is currently being researched. This paper presents an algorithm for real-time image processing and flight prediction. Object detection and flight path prediction can be done fast enough for visual input data with a frame rate of 130 FPS (frames per second). Our experiments show that the average execution time for all necessary calculations on an NVidia GTX 560 TI platform is less than 7.7ms. The maximum times of up to 11.7ms require a small buffer for frame rates over 85 FPS. The results demonstrate that the use of a GPU (Graphics Processing Unit) considerably accelerates the entire procedure and can lead to execution rates of 3.5 to 7.2 faster than on a CPU. Prediction, which was the main focus of this research, is accelerated by a factor of 9.5 by executing the devised parallel algorithm on a GPU. Based on these results, further research could be carried out to examine the prediction system’s reliability and limitations (compare (Pongratz, 2016)).

Paper Citation

in Harvard Style

Götzinger M., Pongratz M., Rahmani A. and Jantsch A. (2017). Parallelized Flight Path Prediction using a Graphics Processing Unit . In Proceedings of the 12th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications - Volume 6: VISAPP, (VISIGRAPP 2017) ISBN 978-989-758-227-1, pages 386-393. DOI: 10.5220/0006105903860393

in Bibtex Style

@conference{visapp17,
author={Maximilian Götzinger and Martin Pongratz and Amir M. Rahmani and Axel Jantsch},
title={Parallelized Flight Path Prediction using a Graphics Processing Unit},
booktitle={Proceedings of the 12th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications - Volume 6: VISAPP, (VISIGRAPP 2017)},
year={2017},
pages={386-393},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006105903860393},
isbn={978-989-758-227-1},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 12th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications - Volume 6: VISAPP, (VISIGRAPP 2017)
TI - Parallelized Flight Path Prediction using a Graphics Processing Unit
SN - 978-989-758-227-1
AU - Götzinger M.
AU - Pongratz M.
AU - Rahmani A.
AU - Jantsch A.
PY - 2017
SP - 386
EP - 393
DO - 10.5220/0006105903860393