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GPU-accelerated Computer Vision
Head: Takeo Kanade
Contact: Philipp Michel (pmichel@cs.cmu.edu)

Mailing address:
Carnegie Mellon University
Robotics Institute
5000 Forbes Avenue
Pittsburgh, PA 15213

Associated centers: VASC and CFR
Associated lab/group: Planning and Autonomy Lab

This page last updated - December 2006.

This project seeks to exploit the computational resources and parallelism offered by modern programmable GPUs in the context of computer vision.

We have been implementing a robust model-based three-dimensional tracking system on the GPU, operating at frame-rate on a humanoid robot during walking. Leveraging the computational resources of the GPU for vision has enabled us to ensure our tracker’s robustness to the large camera displacements, camera shake and severe aspect changes typically encountered during humanoid navigation.

Name - Title <Email Address>
• Satoshi Kagami - Visiting Faculty
• [Home] Takeo Kanade - U.A. and Helen Whitaker University Prof., RI/CS <tk@cs.cmu.edu>
• [Home] James Kuffner - Assistant Professor <kuffner@cs.cmu.edu>
• [Home] Philipp Michel - PhD Student, RI <pmichel@cs.cmu.edu>

Note: This list may not be comprehensive. It contains only those publications in the RI publications database. Entries are listed in reverse chronological order.

• GPU-accelerated Real-Time 3D Tracking for Humanoid Locomotion and Stair Climbing
  P. Michel, J. Chestnutt, S. Kagami, K. Nishiwaki, J. Kuffner, and T. Kanade
  Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'07), October, 2007, pp. 463-469. [Abstract]
  Download: pdf [1413 KB] copyrighted