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Optimizations and Performance of a Robotics Grasping Algorithm Described in Geometric Algebra

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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