GPU増設型Pepperロボットの試作
Adapted Pepper
市販ロボットPepperにGPUと頭部3Dカメラを追加し、OpenPoseやYOLOなどの高負荷アルゴリズムをネットワーク依存なしでオンボード実行できるようにした試作機を開発した。
著者: Maxime Caniot, Vincent Bonnet, Maxime Busy, Thierry Labaye, Michel Besombes, Sebastien Courtois, Edouard Lagrue
分類: cs.RO, cs.AI
原文アブストラクト
One of the main issue in robotics is the lack of embedded computational power. Recently, state of the art algorithms providing a better understanding of the surroundings (Object detection, skeleton tracking, etc.) are requiring more and more computational power. The lack of embedded computational power is more significant in mass-produced robots because of the difficulties to follow the increasing computational requirements of state of the art algorithms. The integration of an additional GPU allows to overcome this lack of embedded computational power. We introduce in this paper a prototype of Pepper with an embedded GPU, but also with an additional 3D camera on the head of the robot and plugged to the late GPU. This prototype, called Adapted Pepper, was built for the European project called MuMMER (MultiModal Mall Entertainment Robot) in order to embed algorithms like OpenPose, YOLO or to process sensors information and, in all cases, avoid network dependency for deported computation.
