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A Comparison of FPGA and GPGPU Designs for Bayesian Occupancy Filters

University Institute for Computing Research, University of Alicante, 03690 San Vicente del Raspeig, Spain
Ixion Industry & Aerospace SL, Julian Camarilo 21B, 28037 Madrid, Spain
Centre for Automation and Robotics (UPM-CSIC), 28500 Arganda del Rey, Spain
Author to whom correspondence should be addressed.
Sensors 2017, 17(11), 2599;
Received: 15 September 2017 / Revised: 3 November 2017 / Accepted: 6 November 2017 / Published: 11 November 2017
(This article belongs to the Section Physical Sensors)
PDF [6173 KB, uploaded 11 November 2017]


Grid-based perception techniques in the automotive sector based on fusing information from different sensors and their robust perceptions of the environment are proliferating in the industry. However, one of the main drawbacks of these techniques is the traditionally prohibitive, high computing performance that is required for embedded automotive systems. In this work, the capabilities of new computing architectures that embed these algorithms are assessed in a real car. The paper compares two ad hoc optimized designs of the Bayesian Occupancy Filter; one for General Purpose Graphics Processing Unit (GPGPU) and the other for Field-Programmable Gate Array (FPGA). The resulting implementations are compared in terms of development effort, accuracy and performance, using datasets from a realistic simulator and from a real automated vehicle. View Full-Text
Keywords: Bayesian occupancy filter; FPGA; GPGPU; embedded system; ADAS Bayesian occupancy filter; FPGA; GPGPU; embedded system; ADAS

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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).

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Medina, L.; Diez-Ochoa, M.; Correal, R.; Cuenca-Asensi, S.; Serrano, A.; Godoy, J.; Martínez-Álvarez, A.; Villagra, J. A Comparison of FPGA and GPGPU Designs for Bayesian Occupancy Filters. Sensors 2017, 17, 2599.

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