Location: Search Based Planning Lab, RI, CMU

Perception Via Search (PERCH) is a class of algorithms that search for the best explanation of the observed scene in a space of possible rendered scenes, thus accounting for occlusion. However these algorithms are slow, owing to their deliberative nature. In this work we redesign these algorithms in order to exploit their inherent parallel nature better on a GPU. The redesigned algorithm, PERCH 2.0, is upto a ~100X faster that its predecessor PERCH.

Paper : Master’s Thesis, IROS 2020 / Videos : Clip 1 / Code : GitHub / Skills : CUDA, OpenMP, C++, Python, MPI