Wörsdörfer, Florian ; Stock, Florian ; Bayro-Corrochano, Eduardo ; Hildenbrand, Dietmar (2009)
Optimizations and Performance of a Robotics Grasping Algorithm Described in Geometric Algebra.
Progress in Pattern Recognition, Image Analysis, Computer Vision, and Applications.
Konferenzveröffentlichung, Bibliographie
Kurzbeschreibung (Abstract)
The usage of Conformal Geometric Algebra leads to algorithms that can be formulated in a very clear and easy to grasp way. But it can also increase the performance of an implementation because of its capabilities to be computed in parallel. In this paper we show how a grasping algorithm for a robotic arm is accelerated using a Conformal Geometric Algebra formulation. The optimized C code is produced by the CGA framework Gaalop automatically. We compare this implementation with a CUDA implementation and an implementation that uses standard vector algebra.
| Typ des Eintrags: | Konferenzveröffentlichung |
|---|---|
| Erschienen: | 2009 |
| Autor(en): | Wörsdörfer, Florian ; Stock, Florian ; Bayro-Corrochano, Eduardo ; Hildenbrand, Dietmar |
| Art des Eintrags: | Bibliographie |
| Titel: | Optimizations and Performance of a Robotics Grasping Algorithm Described in Geometric Algebra |
| Sprache: | Englisch |
| Publikationsjahr: | 2009 |
| Verlag: | Springer, Berlin, Heidelberg, New York |
| Reihe: | Lecture Notes in Computer Science (LNCS); 5856 |
| Veranstaltungstitel: | Progress in Pattern Recognition, Image Analysis, Computer Vision, and Applications |
| Kurzbeschreibung (Abstract): | The usage of Conformal Geometric Algebra leads to algorithms that can be formulated in a very clear and easy to grasp way. But it can also increase the performance of an implementation because of its capabilities to be computed in parallel. In this paper we show how a grasping algorithm for a robotic arm is accelerated using a Conformal Geometric Algebra formulation. The optimized C code is produced by the CGA framework Gaalop automatically. We compare this implementation with a CUDA implementation and an implementation that uses standard vector algebra. |
| Freie Schlagworte: | Forschungsgruppe Geometric Algebra Computing (GACO), Compute Unified Device Architecture (CUDA), Runtime performance, Conformal Geometric Algebra (CGA), Robotics |
| Fachbereich(e)/-gebiet(e): | 20 Fachbereich Informatik 20 Fachbereich Informatik > Graphisch-Interaktive Systeme |
| Hinterlegungsdatum: | 12 Nov 2018 11:16 |
| Letzte Änderung: | 12 Nov 2018 11:16 |
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