AltiVec performance increases for autonomous robotics for the MARSSCAPE architecture program

Benny M. Gothard

doi:10.1117/12.457454

18 February 2002 AltiVec performance increases for autonomous robotics for the MARSSCAPE architecture program

Benny M. Gothard

Proceedings Volume 4573, Mobile Robots XVI; (2002) https://doi.org/10.1117/12.457454
Event: Intelligent Systems and Advanced Manufacturing, 2001, Boston, MA, United States

Abstract

One of the main tall poles that must be overcome to develop a fully autonomous vehicle is the inability of the computer to understand its surrounding environment to a level that is required for the intended task. The military mission scenario requires a robot to interact in a complex, unstructured, dynamic environment. Reference A High Fidelity Multi-Sensor Scene Understanding System for Autonomous Navigation The Mobile Autonomous Robot Software Self Composing Adaptive Programming Environment (MarsScape) perception research addresses three aspects of the problem; sensor system design, processing architectures, and algorithm enhancements. A prototype perception system has been demonstrated on robotic High Mobility Multi-purpose Wheeled Vehicle and All Terrain Vehicle testbeds. This paper addresses the tall pole of processing requirements and the performance improvements based on the selected MarsScape Processing Architecture. The processor chosen is the Motorola Altivec-G4 Power PC(PPC) (1998 Motorola, Inc.), a highly parallized commercial Single Instruction Multiple Data processor. Both derived perception benchmarks and actual perception subsystems code will be benchmarked and compared against previous Demo II-Semi-autonomous Surrogate Vehicle processing architectures along with desktop Personal Computers(PC). Performance gains are highlighted with progress to date, and lessons learned and future directions are described.

Citation Download Citation

Benny M. Gothard "AltiVec performance increases for autonomous robotics for the MARSSCAPE architecture program", Proc. SPIE 4573, Mobile Robots XVI, (18 February 2002); https://doi.org/10.1117/12.457454

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