16 Sep 2007 motters   » (Master)

A bit more weekend roboting. I've now made the SLAM mapping multithreaded so that the system will scale nicely over multiple CPU cores. Testing on a dual core system shows that I'm getting a good distribution of the processing load. This means that the number of particles used to model the robots pose uncertainty at any point in time is scalable, so as more cores become available the mapping will be more robust and accurate.

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