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Optimizations and performance of a robotics grasping algorithm described in geometric algebra

: Wörsdörfer, Florian; Stock, Florian; Bayro-Corrochano, Eduardo; Hildenbrand, Dietmar


Bayro-Corrochano, E.J.:
Progress in pattern recognition, image analysis, computer vision, and applications. 14th Iberoamerican Conference on Pattern Recognition, CIARP 2009 : Guadalajara, Jalisco, México, November 15-18, 2009 ; proceedings
Berlin: Springer, 2009 (Lecture Notes in Computer Science 5856)
ISBN: 3-642-10267-0
ISBN: 978-3-642-10267-7
ISBN: 978-3-642-10268-4
ISSN: 0302-9743
Iberoamerican Conference on Pattern Recognition (CIARP) <14, 2009, Guadalajara>
Fraunhofer IGD ()
Compute Unified Device Architecture (CUDA); runtime performance; geometric algebra; robotic; Forschungsgruppe Geometric Algebra Computing (GACO)

The usage of Conformal Geometric Algebra leads to algorithms that can be formulated in a very clear and easy to grasp way. But it can also increase the performance of an implementation because of its capabilities to be computed in parallel. In this paper we show how a grasping algorithm for a robotic arm is accelerated using a Conformal Geometric Algebra formulation. The optimized C code is produced by the CGA framework Gaalop automatically. We compare this implementation with a CUDA implementation and an implementation that uses standard vector algebra.