Section: New Software and Platforms

AROSDYN

Participants : Igor Paromtchik, Mathias Perrollaz, Alexandros Makris, Amaury Nègre, Christian Laugier.

ArosDyn (http://arosdyn.gforge.inria.fr/ ) is a system which integrates our recently developped techniques to provide a real-time collision risk estimation in a dynamic environment. The main features of this software are:

1. The design provides high maintainability, scalability and reuseness of the models and algorithms.

2. The software has a user interface (UI) which is user-friendly.

3. The software facilitates the parameter tuning of the models.

4. It uses the GPU to accelerate the computation.

5. Working together with the Hugr middleware (http://gforge.inria.fr/projects/cycabtk ), it can run on our experimental vehicle in real-time.

Another important property of this software is a large part of the computation task executed on GPU. As the processing of stereo image and the computaion in the BOF can be highly parallelized, we run these tasks on the GPU to improve the time performance. The GPU calculation is based on CUDA library and is carried out in an independent thread.

Furthermore, thanks to the design of the software, we can easily add new models to it and let them work together. The fast detection and tracking algorithm (FCTA) and the Gaussian process based collision assessment algorithm are added into this framework. The sofware is implemented on the Lexus car. In 2012, a demand for deposing the GPU BOF software to the APP is in progress.