Load balanced resampling for real-time particle filtering on graphics processing units

IEEE Transactions on Signal Processing

Volumn 61, Issue 2, 2013, Pages 411-419

  Hwang, Kyuyeon ^a   Sung, Wonyong ^a  

^a Seoul National University   (South Korea)

Author keywords

Graphics processing unit (GPU); load balancing; parallel implementation; particle filter; real time

Indexed keywords

COMPUTATION SPEED; COMPUTATION TIME; COMPUTATIONAL LOADS; CONVENTIONAL ALGORITHMS; EXECUTION SPEED; GRAPHICS PROCESSING UNIT; GRAPHICS PROCESSING UNITS; IMBALANCE PROBLEM; LOAD-BALANCED; PARALLEL IMPLEMENTATIONS; PARTICLE FILTER; PARTICLE FILTERING; PROCESSING ELEMENTS; REAL-TIME; RESAMPLING; RESAMPLING METHOD;

ALGORITHMS; COMPUTER GRAPHICS; DISTRIBUTED COMPUTER SYSTEMS; MONTE CARLO METHODS; PROGRAM PROCESSORS; REAL TIME SYSTEMS; RESOURCE ALLOCATION; SIGNAL FILTERING AND PREDICTION; TARGET TRACKING;

COMPUTER GRAPHICS EQUIPMENT;

EID: 84871741461     PISSN: 1053587X     EISSN: None     Source Type: Journal    
DOI: 10.1109/TSP.2012.2222392     Document Type: Article

References (15)

1. B. Ristic, S. Arulampalam, and N. Gordon, Beyond the Kalman Filter: Particle Filters for Tracking Applications. Dedham, MA: Artech House, 2004.
2. A. Doucet, N. De Freitas, and N. Gordon, Sequential Monte Carlo Methods in Practice. New York: Springer-Verlag, 2001.
3. S. Thrun, D. Fox, W. Burgard, and F. Dellaert, "Robust Monte Carlo localization for mobile robots," Artif. Intell., vol. 128, no. 1-2, pp. 99-141, 2001. (Pubitemid 32421511)
4. K. Okuma, A. Taleghani, N. Freitas, J. Little, and D. Lowe, "A boosted particle filter: Multitarget detection and tracking," Comput. Vis.-ECCV, pp. 28-39, 2004.
5. M. Bolic, P. Djuric, and S. Hong, "Resampling algorithms and architectures for distributed particle filters," IEEE Trans. Signal Process., vol. 53, no. 7, pp. 2442-2450, 2005. (Pubitemid 41166926)
6. L. Miao, J. Zhang, C. Chakrabarti, and A. Papandreou-Suppappola, "A new parallel implementation for particle filters and its application to adaptive waveform design," in Proc. IEEE Workshop Signal Process. Syst. (SIPS), 2010.
7. A. Sankaranarayanan, R. Chellappa, and A. Srivastava, "Algorithmic and architectural design methodology for particle filters in hardware," in Proc. IEEE Int. Conf. Comput. Des., 2005.
8. G. Hendeby, R. Karlsson, and F. Gustafsson, "Particle filtering: The need for speed," EURASIP J. Adv. Signal Process., vol. 2010, 2010.
9. M. Chao, C. Chu, C. Chao, and A. Wu, "Efficient parallelized particle filter design on CUDA," in Proc. IEEE Workshop Signal Process. Syst. (SIPS), 2010.
10. J. Hol, T. Schon, and F. Gustafsson, "On resampling algorithms for particle filters," in Proc. IEEE Workshop Nonlin. Statist. Signal Process., 2006.
11. S. Chib and E. Greenberg, "Understanding the Metropolis-Hastings algorithm," Amer. Statistician, pp. 327-335, 1995. (Pubitemid 126008969)
12. NVIDIA CUDA C Programming Guide, NVIDIA, 2011.
13. NVIDIA GeForce GTX580 [Online]. Available: http://www.nvidia. com/object/product-geforce-gtx-580-us.html
14. M. Harris, S. Sengupta, and J. Owens, "Parallel prefix sum (scan) with CUDA," GPU Gems, vol. 3, no. 39, pp. 851-876, 2007.
15. P. Kogge and H. Stone, "A parallel algorithm for the efficient solution of a general class of recurrence equations," IEEE Trans. Comput., vol. 100, no. 8, pp. 786-793, 1973.