基于嵌入式GPU平台的远程呈现机器人的实时系统级实现

2016 Design, Automation & Test in Europe Conference & Exhibition (DATE) Pub Date : 2016-03-14 DOI:10.3850/9783981537079_0353

M. T. Satria, S. Gurumani, Wang Zheng, K. Tee, Augustine Koh, Pan Yu, K. Rupnow, Deming Chen

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引用次数: 12

摘要

远程呈现系统等实时应用程序提供了使用嵌入式gpu进行计算加速以满足平台目标的机会。在本文中，我们开发了一个便携式，独立的远程呈现机器人的原型，该机器人使用NVIDIA Jetson TK1嵌入式平台执行实时注意力定向控制。我们执行特定平台的优化，以提高线程占用率，优化计算工作量，提高嵌入式GPU上人脸检测的准确性，并在Jetson TK1上实现了每秒30帧的实时性能，与ARM CPU版本相比，整体速度提高了10倍。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Real-time system-level implementation of a telepresence robot using an embedded GPU platform

Real-time applications such as telepresence systems present an opportunity to use embedded GPUs for compute acceleration to meet platform goals. In this paper, we develop a prototype of a portable, standalone telepresence robot that performs real-time attention-directed control using an NVIDIA Jetson TK1 embedded platform. We perform platform-specific optimizations to improve thread occupancy, optimize computation workload and improve accuracy of face detection on the embedded GPU and achieve real-time performance of 30 frames per second on the Jetson TK1 and an overall speedup of 10× compared to the ARM CPU version.

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2016 Design, Automation & Test in Europe Conference & Exhibition (DATE)

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