{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T19:10:08Z","timestamp":1760209808062,"version":"build-2065373602"},"reference-count":35,"publisher":"MDPI AG","issue":"11","license":[{"start":{"date-parts":[[2017,11,11]],"date-time":"2017-11-11T00:00:00Z","timestamp":1510358400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>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.<\/jats:p>","DOI":"10.3390\/s17112599","type":"journal-article","created":{"date-parts":[[2017,11,13]],"date-time":"2017-11-13T11:12:36Z","timestamp":1510571556000},"page":"2599","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["A Comparison of FPGA and GPGPU Designs for Bayesian Occupancy Filters"],"prefix":"10.3390","volume":"17","author":[{"given":"Luis","family":"Medina","sequence":"first","affiliation":[{"name":"University Institute for Computing Research, University of Alicante, 03690 San Vicente del Raspeig, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Miguel","family":"Diez-Ochoa","sequence":"additional","affiliation":[{"name":"Ixion Industry &amp; Aerospace SL, Julian Camarilo 21B, 28037 Madrid, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Raul","family":"Correal","sequence":"additional","affiliation":[{"name":"Ixion Industry &amp; Aerospace SL, Julian Camarilo 21B, 28037 Madrid, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Sergio","family":"Cuenca-Asensi","sequence":"additional","affiliation":[{"name":"University Institute for Computing Research, University of Alicante, 03690 San Vicente del Raspeig, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9794-8495","authenticated-orcid":false,"given":"Alejandro","family":"Serrano","sequence":"additional","affiliation":[{"name":"University Institute for Computing Research, University of Alicante, 03690 San Vicente del Raspeig, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jorge","family":"Godoy","sequence":"additional","affiliation":[{"name":"Centre for Automation and Robotics (UPM-CSIC), 28500 Arganda del Rey, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Antonio","family":"Mart\u00ednez-\u00c1lvarez","sequence":"additional","affiliation":[{"name":"University Institute for Computing Research, University of Alicante, 03690 San Vicente del Raspeig, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3963-7952","authenticated-orcid":false,"given":"Jorge","family":"Villagra","sequence":"additional","affiliation":[{"name":"Centre for Automation and Robotics (UPM-CSIC), 28500 Arganda del Rey, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2017,11,11]]},"reference":[{"key":"ref_1","first-page":"61","article-title":"Sensor fusion in certainty grids for mobile robots","volume":"9","author":"Moravec","year":"1988","journal-title":"AI Mag."},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"19","DOI":"10.1177\/0278364906061158","article-title":"Bayesian Occupancy Filtering for Multitarget Tracking: An Automotive Application","volume":"25","author":"Pradalier","year":"2006","journal-title":"Int. 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