We recommended assigning a GPU to each Algo node processing sensor data. Processing data on the Algo nodes without a GPU is possible, but we observed poor-quality classification of everyday objects during our testing. For example, cars in our intersection scene were missed and instead classified as unknown when the GPU was disabled.
The Seoul Robotics guide provides the following guidance regarding the use of the new GPU module:
"SENSR allows running Deep Learning algorithms that improve the tracking and classification performance significantly. Running those algorithms is computationally expensive and therefore it is recommended using a GPU module for optimal performance. "
The GPU module was enabled for all tests evaluated during the testing supporting the findings in this paper.