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IROS
2009
IEEE

Improving particle filter performance using SSE instructions

8 years 12 months ago
Improving particle filter performance using SSE instructions
Abstract— Robotics researchers are often faced with realtime constraints, and for that reason algorithmic and implementation-level optimization can dramatically increase the overall performance of a robot. In this paper we illustrate how a substantial run-time gain can be achieved by taking advantage of the extended instruction sets found in modern processors, in particular the SSE1 and SSE2 instruction sets. We present an SSE version of Monte Carlo Localization that results in an impressive 9x speedup over an optimized scalar implementation. In the process, we discuss SSE implementations of atan, atan2 and exp that achieve up to a 4x speedup in these mathematical operations alone.
Peter Djeu, Michael Quinlan, Peter Stone
Added 24 May 2010
Updated 24 May 2010
Type Conference
Year 2009
Where IROS
Authors Peter Djeu, Michael Quinlan, Peter Stone
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