论文标题
改编的胡椒
Adapted Pepper
论文作者
论文摘要
机器人技术的主要问题之一是缺乏嵌入式计算能力。最近，最先进的算法可以更好地理解周围环境（对象检测，骨架跟踪等）需要越来越多的计算能力。缺乏嵌入式计算能力在质量生产的机器人中更为重要，因为很难遵循最先进的技术算法计算要求。额外的GPU的集成允许克服这种缺乏嵌入式计算能力。我们在本文中介绍了带有嵌入式GPU的胡椒的原型，但在机器人的头上还带有另外的3D摄像头，并插入了晚期GPU。该原型称为改编的胡椒，是为欧洲项目（Mummer（Multopal Mall Entertainment Robot）建造的，以嵌入OpenPose，Yolo或处理传感器信息等算法，并在所有情况下避免进行被驱逐出境计算的网络依赖性。
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.
