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Robotics with GPU computing

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Robotics with GPU computing

Build Status PyPI version PyPI - Python Version Downloads xscode

Cupoch is a library that implements rapid 3D data processing for robotics using CUDA.

The goal of this library is to implement fast 3D data computation in robot systems. For example, it has applications in SLAM, collision avoidance, path planning and tracking.

Core Features


This software is tested under 64 Bit Ubuntu Linux 18.04 and CUDA 10.0/10.1/10.2. You can install cupoch using pip.

pip install cupoch

Or install cupoch from source.

git clone --recurse
cd cupoch
mkdir build
cd build
cmake ..; make install-pip-package -j

Installation for Jetson Nano

You can also install cupoch using pip on Jetson Nano. Please set up Jetson using jetcard and install some packages with apt.

sudo apt-get install libxinerama-dev libxcursor-dev libglu1-mesa-dev
pip3 install

Or you can compile it from source. Update your version of cmake if necessary.

tar zxvf cmake-3.16.3.tar.gz
cd cmake-3.16.3
./bootstrap -- -DCMAKE_USE_OPENSSL=OFF
make && sudo make install
cd ..
git clone --recurse
cd cupoch/
mkdir build
cd build/
export PATH=/usr/local/cuda/bin:$PATH
sudo make install-pip-package


The figure shows Cupoch's point cloud algorithms speedup over Open3D. The environment tested on has the following specs: * Intel Core i7-7700HQ CPU * Nvidia GTX1070 GPU * OMPNUMTHREAD=1

You can get the result by running the example script in your environment.

cd examples/python/basic


Visual odometry with intel realsense D435


Occupancy grid with intel realsense D435


Fast Global Registration


Point cloud from laser scan


Collision detection for 2 voxel grids


Path finding


Visual odometry with ROS + D435

This demo works in the following environment. * ROS melodic * Python2.7

# Launch roscore and rviz in the other terminals.
cd examples/python/ros



| Point Cloud | Triangle Mesh | |-------------|---------------| | | |

| Voxel Grid | Occupancy Grid | Distance Transform | |------------|----------------|--------------------| | | | |

| Graph | Image | |-------|-------| | | |


  • CUDA repository forked from Open3D,
  • GPU computing in Robotics,
  • Voxel collision comupation for robotics,

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