Peter Stone's Selected Publications

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Improving Particle Filter Performance Using SSE Instructions

Peter Djeu, Michael Quinlan, and Peter Stone. Improving Particle Filter Performance Using SSE Instructions. In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October 2009.

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Abstract

Robotics researchers are often faced with real-time 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.

BibTeX Entry

@InProceedings{IROS09-djeu,
  author="Peter Djeu and Michael Quinlan and Peter Stone",
  title="Improving Particle Filter Performance Using SSE Instructions",
  booktitle = "Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)",
  location = "St. Louis, USA",
  month = "October",
  year = "2009",
  abstract = {Robotics researchers are often faced with real-time 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.},
}

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