Gelencsér-Horváth Anna and Tornai Gábor János and Horváth András and Cserey György Gábor:
Fast, parallel implementation of particle filtering on the GPU architecture.
EURASIP JOURNAL ON ADVANCES IN SIGNAL PROCESSING, 2013 (1).
ISSN 1687-6172
(2013)
| Item Type: |
Article
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| Creators: |
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| Abstract: |
In this paper, we introduce a modified cellular particle filter
(CPF) which we mapped on a graphics processing unit (GPU)
architecture. We developed this filter adaptation using a state-
of-the art CPF technique. Mapping this filter realization on a
highly parallel architecture entailed a shift in the logical
representation of the particles. In this process, the original
two-dimensional organization is reordered as a one-dimensional
ring topology. We proposed a proof-of-concept measurement on two
models with an NVIDIA Fermi architecture GPU. This design
achieved a 411-us kernel time per state and a 77-ms global
running time for all states for 16,384 particles with a 256
neighbourhood size on a sequence of 24 states for a bearing-only
tracking model. For a commonly used benchmark model at the same
configuration, we achieved a 266-us kernel time per state and a
124-ms global running time for all 100 states. Kernel time
includes random number generation on the GPU as well as with
curand. These results attest to the effective and fast use of
the particle filter in high-dimensional, real-time applications. |
| Journal or Publication Title: |
EURASIP JOURNAL ON ADVANCES IN SIGNAL PROCESSING |
| Date: |
2013 |
| Volume: |
2013 |
| Number: |
1 |
| ISSN: |
1687-6172 |
| Institution: |
Pázmány Péter Katolikus Egyetem |
| Kar: |
Információs Technológiai és Bionikai Kar (2013.07.-) |
| Nyelv: |
angol |
| MTMT rekordazonosító: |
2415644 |
| Date Deposited: |
2024. Dec. 19. 10:23 |
| Last Modified: |
2024. Dec. 19. 10:54 |
| URI: |
https://publikacio.ppke.hu/id/eprint/1944 |
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