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Full-Text Articles in Theory and Algorithms
A Robust Rgbd Slam System For 3d Environment With Planar Surfaces, Po-Chang Su, Ju Shen, Sen-Ching S. Cheung
A Robust Rgbd Slam System For 3d Environment With Planar Surfaces, Po-Chang Su, Ju Shen, Sen-Ching S. Cheung
Computer Science Faculty Publications
With the increasing popularity of RGB-depth (RGB-D) sensors such as the Microsoft Kinect, there have been much research on capturing and reconstructing 3D environments using a movable RGB-D sensor. The key process behind these kinds of simultaneous location and mapping (SLAM) systems is the iterative closest point or ICP algorithm, which is an iterative algorithm that can estimate the rigid movement of the camera based on the captured 3D point clouds. While ICP is a well-studied algorithm, it is problematic when it is used in scanning large planar regions such as wall surfaces in a room. The lack of depth …
Gpu-Optimized Code For Long-Term Simulations Of Beam-Beam Effects In Colliders, Y. Roblin, V. Morozov, B. Terzić, M. Aturban, D. Ranjan, M. Zubair
Gpu-Optimized Code For Long-Term Simulations Of Beam-Beam Effects In Colliders, Y. Roblin, V. Morozov, B. Terzić, M. Aturban, D. Ranjan, M. Zubair
Computer Science Faculty Publications
We report on the development of the new code for long-term simulation of beam-beam effects in particle colliders. The underlying physical model relies on a matrix-based arbitrary-order symplectic particle tracking for beam transport and the Bassetti-Erskine approximation for beam-beam interaction. The computations are accelerated through a parallel implementation on a hybrid GPU/CPU platform. With the new code, a previously computationally prohibitive long-term simulations become tractable. We use the new code to model the proposed medium-energy electron-ion collider (MEIC) at Jefferson Lab.