GPU-based pedestrian detection for autonomous driving

Pedestrian detection has gained a lot of prominence during the last few years. Besides the fact that it is one of the hardest tasks within computer vision, it involves huge computational costs. Obtaining acceptable real-time performance, measured in frames per second (fps), for the most advanced algorithms is nowadays a hard challenge. In this work, we propose a GPU implementation of a well-known pedestrian detection system (i.e., HOGLBP-SVM) specially designed for the Tegra X1 embedded GPU. It includes LBP and HOG as feature descriptors and SVM as classifiers. We introduce significant algorithmic adjustments and optimizations to adapt the problem to the NVIDIA GPU architecture without sacrificing accuracy. The aim of this work is to offer a real-time system providing reliable results.La detecció de vianants ha estat un tema de molt interès els darrers anys. A part de ser una de les tasques més complexes de la visió per computador, implica uns costos computacionals molt elevats. Obtenir un rendiment de temps real acceptable, mesurat en imatges processades per segon (fps), per la majoria d'algoritmes més avançats és una fita complicada. Aquest treball proposa una implementació en GPU d'un conegut detector de vianants (i.e., HOGLBP-SVM) dissenyat expressament per la Tegra X1, una GPU encastada. El detector inclou els mètodes LBP i HOG com descriptors de característiques i un SVM com a classificador. El sistema introdueix ajustos algorítmics i optimitzacions per adaptar el problema a l'arquitectura d'una GPU NVIDIA sense sacrificar precisió. L'objectiu és proporcionar un sistema de temps real que alhora sigui robust.La detección de peatones ha ganado mucho interés en los últimos años. A parte de ser una de las tareas más complejas dentro la visión por computador, esta implica unos costes computacionales muy elevados. Obtener un rendimiento de tiempo real aceptable, medido en imágenes procesadas por segundo (fps), para la mayoría de algoritmos más avanzados es un hito complicado. Este trabajo propone una implementación en GPU de un conocido detector de peatones (i.e., HOGLBP-SVM) diseñado para la Tegra X1, una GPU embebida. El detector incluye los metodos LBP i HOG como descriptores de características i un SVM como clasificador. El sistema introduce ajustes algorítmicos i optimizaciones para adaptar el problema a la arquitectura de una GPU NVIDIA sin sacrificar precisión. El objetivo es proporcionar un sistema de tiempo real que a la vez sea robusto

Convolutional Neural Fabrics

Despite the success of CNNs, selecting the optimal architecture for a given task remains an open problem. Instead of aiming to select a single optimal architecture, we propose a "fabric" that embeds an exponentially large number of architectures. The fabric consists of a 3D trellis that connects response maps at different layers, scales, and channels with a sparse homogeneous local connectivity pattern. The only hyper-parameters of a fabric are the number of channels and layers. While individual architectures can be recovered as paths, the fabric can in addition ensemble all embedded architectures together, sharing their weights where their paths overlap. Parameters can be learned using standard methods based on back-propagation, at a cost that scales linearly in the fabric size. We present benchmark results competitive with the state of the art for image classification on MNIST and CIFAR10, and for semantic segmentation on the Part Labels dataset.Comment: Corrected typos (In proceedings of NIPS16

Learning, Categorization, Rule Formation, and Prediction by Fuzzy Neural Networks

National Science Foundation (IRI 94-01659); Office of Naval Research (N00014-91-J-4100, N00014-92-J-4015) Air Force Office of Scientific Research (90-0083, N00014-92-J-4015

About Pyramid Structure in Convolutional Neural Networks

Deep convolutional neural networks (CNN) brought revolution without any doubt to various challenging tasks, mainly in computer vision. However, their model designing still requires attention to reduce number of learnable parameters, with no meaningful reduction in performance. In this paper we investigate to what extend CNN may take advantage of pyramid structure typical of biological neurons. A generalized statement over convolutional layers from input till fully connected layer is introduced that helps further in understanding and designing a successful deep network. It reduces ambiguity, number of parameters, and their size on disk without degrading overall accuracy. Performance are shown on state-of-the-art models for MNIST, Cifar-10, Cifar-100, and ImageNet-12 datasets. Despite more than 80% reduction in parameters for Caffe_LENET, challenging results are obtained. Further, despite 10-20% reduction in training data along with 10-40% reduction in parameters for AlexNet model and its variations, competitive results are achieved when compared to similar well-engineered deeper architectures.Comment: Published in 2016 International Joint Conference on Neural Networks (IJCNN