Abstract
In this paper the GPU-accelerated range sensors simulation is discussed. Range sensors generate large amount of data per second and to simulate these high-performance simulation is needed. We propose to use parallel ray tracing on graphics processing units to improve the performance of range sensors simulation. The multiple range sensors are described and simulated using NVIDIA OptiX ray tracing engine. This work is focused on the performance of the GPU acceleration of range images simulation in complex environments. Proposed method is tested using several state-of-the-art ray tracing datasets. The software is publicly available as an open-source project SensorSimRT.
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Acknowledgments
This work is done with the partial support of NCBiR (Polish National Center for Research and Development) project: “Research of Mobile Spatial Assistance System” Nr: LIDER/036/659/L-4/12/NCBR/2013 and from the European Community’s Seventh Framework Programme (FP7/2007-2013) under grant agreement nr:285417—project ICARUS Integrated Components for Assisted Rescue and Unmanned Search operations.
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Majek, K., Bedkowski, J. (2016). Range Sensors Simulation Using GPU Ray Tracing. In: Burduk, R., Jackowski, K., Kurzyński, M., Woźniak, M., Żołnierek, A. (eds) Proceedings of the 9th International Conference on Computer Recognition Systems CORES 2015. Advances in Intelligent Systems and Computing, vol 403. Springer, Cham. https://doi.org/10.1007/978-3-319-26227-7_78
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DOI: https://doi.org/10.1007/978-3-319-26227-7_78
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