{"id":"https://openalex.org/W4319941075","doi":"https://doi.org/10.1145/3578178.3578237","title":"Exploiting Data Parallelism in Graph-Based Simultaneous Localization and Mapping: A Case Study with GPU Accelerations","display_name":"Exploiting Data Parallelism in Graph-Based Simultaneous Localization and Mapping: A Case Study with GPU Accelerations","publication_year":2023,"publication_date":"2023-02-10","ids":{"openalex":"https://openalex.org/W4319941075","doi":"https://doi.org/10.1145/3578178.3578237"},"language":"en","primary_location":{"id":"doi:10.1145/3578178.3578237","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1145/3578178.3578237","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the International Conference on High Performance Computing in Asia-Pacific Region","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5067496315","display_name":"Junyuan Zheng","orcid":"https://orcid.org/0000-0001-7679-9910"},"institutions":[{"id":"https://openalex.org/I157507598","display_name":"Shenyang University of Technology","ror":"https://ror.org/00d7f8730","country_code":"CN","type":"education","lineage":["https://openalex.org/I157507598"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Junyuan Zheng","raw_affiliation_strings":["Shenyang University of Technology, China"],"affiliations":[{"raw_affiliation_string":"Shenyang University of Technology, China","institution_ids":["https://openalex.org/I157507598"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043275343","display_name":"Yuan He","orcid":"https://orcid.org/0000-0002-4087-8905"},"institutions":[{"id":"https://openalex.org/I157507598","display_name":"Shenyang University of Technology","ror":"https://ror.org/00d7f8730","country_code":"CN","type":"education","lineage":["https://openalex.org/I157507598"]},{"id":"https://openalex.org/I203951103","display_name":"Keio University","ror":"https://ror.org/02kn6nx58","country_code":"JP","type":"education","lineage":["https://openalex.org/I203951103"]}],"countries":["CN","JP"],"is_corresponding":false,"raw_author_name":"Yuan He","raw_affiliation_strings":["Keio University, Japan and Shenyang University of Technology, China"],"affiliations":[{"raw_affiliation_string":"Keio University, Japan and Shenyang University of Technology, China","institution_ids":["https://openalex.org/I157507598","https://openalex.org/I203951103"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103017591","display_name":"Masaaki Kondo","orcid":"https://orcid.org/0000-0002-6025-8738"},"institutions":[{"id":"https://openalex.org/I4210129730","display_name":"RIKEN Center for Computational Science","ror":"https://ror.org/03r519674","country_code":"JP","type":"facility","lineage":["https://openalex.org/I4210110652","https://openalex.org/I4210129730"]},{"id":"https://openalex.org/I203951103","display_name":"Keio University","ror":"https://ror.org/02kn6nx58","country_code":"JP","type":"education","lineage":["https://openalex.org/I203951103"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masaaki Kondo","raw_affiliation_strings":["Keio University, Japan and RIKEN Center for Computational Science, Japan"],"affiliations":[{"raw_affiliation_string":"Keio University, Japan and RIKEN Center for Computational Science, Japan","institution_ids":["https://openalex.org/I4210129730","https://openalex.org/I203951103"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5067496315"],"corresponding_institution_ids":["https://openalex.org/I157507598"],"apc_list":null,"apc_paid":null,"fwci":0.8824,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.79198185,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"126","last_page":"139"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.996999979019165,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12288","display_name":"Optimization and Search Problems","score":0.9943000078201294,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.840555727481842},{"id":"https://openalex.org/keywords/cuda","display_name":"CUDA","score":0.6756642460823059},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.6576584577560425},{"id":"https://openalex.org/keywords/parallel-computing","display_name":"Parallel computing","score":0.6103702187538147},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.5413956046104431},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.5130606889724731},{"id":"https://openalex.org/keywords/speedup","display_name":"Speedup","score":0.5070414543151855},{"id":"https://openalex.org/keywords/x86","display_name":"x86","score":0.46577781438827515},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.4178692102432251},{"id":"https://openalex.org/keywords/workstation","display_name":"Workstation","score":0.4130637049674988},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.354489803314209},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.24205392599105835},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.22850582003593445},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21791380643844604},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.17746326327323914}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.840555727481842},{"id":"https://openalex.org/C2778119891","wikidata":"https://www.wikidata.org/wiki/Q477690","display_name":"CUDA","level":2,"score":0.6756642460823059},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6576584577560425},{"id":"https://openalex.org/C173608175","wikidata":"https://www.wikidata.org/wiki/Q232661","display_name":"Parallel computing","level":1,"score":0.6103702187538147},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.5413956046104431},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.5130606889724731},{"id":"https://openalex.org/C68339613","wikidata":"https://www.wikidata.org/wiki/Q1549489","display_name":"Speedup","level":2,"score":0.5070414543151855},{"id":"https://openalex.org/C170723468","wikidata":"https://www.wikidata.org/wiki/Q182933","display_name":"x86","level":3,"score":0.46577781438827515},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.4178692102432251},{"id":"https://openalex.org/C67953723","wikidata":"https://www.wikidata.org/wiki/Q192525","display_name":"Workstation","level":2,"score":0.4130637049674988},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.354489803314209},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.24205392599105835},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.22850582003593445},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21791380643844604},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.17746326327323914},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3578178.3578237","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1145/3578178.3578237","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the International Conference on High Performance Computing in Asia-Pacific Region","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.8999999761581421,"id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1656165940","https://openalex.org/W2015997601","https://openalex.org/W2064169939","https://openalex.org/W2073968412","https://openalex.org/W2080823437","https://openalex.org/W2127578024","https://openalex.org/W2130422193","https://openalex.org/W2146881125","https://openalex.org/W2148916113","https://openalex.org/W2528234499","https://openalex.org/W2551027686","https://openalex.org/W2767428201","https://openalex.org/W2911708692","https://openalex.org/W3126849949","https://openalex.org/W3142707146"],"related_works":["https://openalex.org/W2058965144","https://openalex.org/W2164382479","https://openalex.org/W2146343568","https://openalex.org/W98480971","https://openalex.org/W2150291671","https://openalex.org/W2013643406","https://openalex.org/W2027972911","https://openalex.org/W2157978810","https://openalex.org/W2983282793","https://openalex.org/W1973046741"],"abstract_inverted_index":{"Graph-based":[0],"simultaneous":[1],"localization":[2],"and":[3,19,32,51,67,81,97,144,178],"mapping":[4],"(G-SLAM)":[5],"is":[6],"an":[7,145,179],"intuitive":[8],"SLAM":[9,59],"implementation":[10],"where":[11],"graphs":[12],"are":[13],"used":[14],"to":[15,102,109,129,142,150,176,184],"represent":[16],"poses,":[17],"landmarks":[18],"sensor":[20],"measurements":[21],"when":[22,117],"a":[23,27,38,62,69,99,138,153,161,172],"mobile":[24],"robot":[25],"builds":[26],"map":[28],"of":[29,65,72,77,90,140,148,174,182],"the":[30,48,75,87,91,119,122],"environment":[31,50],"locates":[33],"itself":[34],"in":[35,43,94,121],"it.":[36,104],"Being":[37],"very":[39],"important":[40],"application":[41],"employed":[42],"many":[44],"realistic":[45],"scenarios,":[46],"estimating":[47],"whole":[49],"all":[52],"trajectories":[53],"through":[54,127],"solving":[55],"graph":[56],"problems":[57],"for":[58,164],"can":[60],"incur":[61],"large":[63],"amount":[64,71],"computation":[66],"consume":[68],"significant":[70],"energy.":[73],"For":[74],"purpose":[76],"improving":[78],"both":[79],"performance":[80],"energy":[82,146,180],"efficiency,":[83],"we":[84,106,136,170],"have":[85,107],"unveiled":[86],"critical":[88],"path":[89],"G-SLAM":[92,123],"algorithm":[93],"this":[95],"paper":[96],"implemented":[98],"GPU-based":[100],"solution":[101],"aid":[103],"Furthermore,":[105],"attempted":[108],"offload":[110],"performance-critical":[111],"components":[112],"(such":[113],"as":[114],"matrix":[115],"inversions":[116],"updating":[118],"trajectory)":[120],"process":[124],"into":[125],"GPUs":[126],"CUDA":[128],"exploit":[130],"data":[131],"parallelism.":[132],"With":[133],"our":[134],"solution,":[135],"observe":[137],"speed-up":[139,173],"up":[141,149,175,183],"19.7x":[143],"saving":[147,181],"83.7%":[151],"over":[152],"modern":[154],"workstation":[155],"class":[156],"x86":[157],"CPU;":[158],"while":[159],"on":[160],"platform":[162],"dedicated":[163],"edge":[165],"computing":[166],"(NVIDIA":[167],"Jetson":[168],"Nano),":[169],"achieve":[171],"2.5x":[177],"6.4%":[185],"with":[186],"its":[187],"integrated":[188],"GPU,":[189],"respectively.":[190]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2025-12-21T23:12:01.093139","created_date":"2025-10-10T00:00:00"}