Hi, I am working on a robot project on Jetson TX2. One important component of the project is Particle Filter that matches LiDAR scan with a exiting map. My implementation is current on CPU and it is very slow. I am thinking about use GPU. The background information is as follow:
- There is a map which is a 1024x1024 8 bit image. All particles share this same map.
- Each particle has a Lidar scan data which is a array of 1024 float numbers.
- Each particle needs to access the map, and do some processing (match its LiDAR scan to the map).
- Each particle will update its weight based on the matching results.
I am not sure what’s the high level strategy to do this with GPU. One particle per GPU core?
Also, I am pretty new to GPU and CUDA, if you know some CUDA example specifically for Jetson TX2, please let me know.