An embarrassingly parallel hoppingwindow noise removing algorithm for lidar based robot mapping

Ankit A. Ravankar; Yukinori Kobayashi; Jixin Lv; Takanori Emaru; Yohei Hoshino

doi:10.1109/SICE.2014.6935196

An embarrassingly parallel hoppingwindow noise removing algorithm for lidar based robot mapping

Ankit A. Ravankar, Yukinori Kobayashi, Jixin Lv, Takanori Emaru, Yohei Hoshino

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

1 Citation (Scopus)

Abstract

This paper presents an embarrassingly parallel hopping window algorithm to remove noise from Lidar (Light detection and ranging) sensor for robot mapping applications. The algorithm works by analyzing the density of Lidar data inside a window which hops over the entire input sensor data. For faster execution of the algorithm, multiple window hopping is done intelligently without omitting the processing of actual data which is checked by a 'reverse-hop' mechanism. We discuss the parallel implementation of the proposed algorithm. Results show that the proposed algorithm efficiently removes noise from Lidar data, is very fast, embarrassingly parallel and its implementation is very straightforward.

Original language	English
Title of host publication	Proceedings of the SICE Annual Conference
Publisher	Society of Instrument and Control Engineers (SICE)
Pages	307-312
Number of pages	6
ISBN (Electronic)	9784907764463
DOIs	https://doi.org/10.1109/SICE.2014.6935196
Publication status	Published - 2014 Oct 23
Externally published	Yes
Event	2014 53rd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2014 - Sapporo, Japan Duration: 2014 Sept 9 → 2014 Sept 12

Publication series

Name	Proceedings of the SICE Annual Conference

Conference

Conference	2014 53rd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2014
Country/Territory	Japan
City	Sapporo
Period	14/9/9 → 14/9/12

Keywords

Noise removal
Parallel algorithms
Robot mapping

ASJC Scopus subject areas

Control and Systems Engineering
Computer Science Applications
Electrical and Electronic Engineering

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10.1109/SICE.2014.6935196

Cite this

Ravankar, A. A., Kobayashi, Y., Lv, J., Emaru, T., & Hoshino, Y. (2014). An embarrassingly parallel hoppingwindow noise removing algorithm for lidar based robot mapping. In Proceedings of the SICE Annual Conference (pp. 307-312). [6935196] (Proceedings of the SICE Annual Conference). Society of Instrument and Control Engineers (SICE). https://doi.org/10.1109/SICE.2014.6935196

An embarrassingly parallel hoppingwindow noise removing algorithm for lidar based robot mapping. / Ravankar, Ankit A.; Kobayashi, Yukinori; Lv, Jixin et al.

Proceedings of the SICE Annual Conference. Society of Instrument and Control Engineers (SICE), 2014. p. 307-312 6935196 (Proceedings of the SICE Annual Conference).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Ravankar, AA, Kobayashi, Y, Lv, J, Emaru, T & Hoshino, Y 2014, An embarrassingly parallel hoppingwindow noise removing algorithm for lidar based robot mapping. in Proceedings of the SICE Annual Conference., 6935196, Proceedings of the SICE Annual Conference, Society of Instrument and Control Engineers (SICE), pp. 307-312, 2014 53rd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2014, Sapporo, Japan, 14/9/9. https://doi.org/10.1109/SICE.2014.6935196

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abstract = "This paper presents an embarrassingly parallel hopping window algorithm to remove noise from Lidar (Light detection and ranging) sensor for robot mapping applications. The algorithm works by analyzing the density of Lidar data inside a window which hops over the entire input sensor data. For faster execution of the algorithm, multiple window hopping is done intelligently without omitting the processing of actual data which is checked by a 'reverse-hop' mechanism. We discuss the parallel implementation of the proposed algorithm. Results show that the proposed algorithm efficiently removes noise from Lidar data, is very fast, embarrassingly parallel and its implementation is very straightforward.",

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An embarrassingly parallel hoppingwindow noise removing algorithm for lidar based robot mapping

Abstract

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Conference

Keywords

ASJC Scopus subject areas

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