Hybrid Scene Compression for Visual Localization

Localizing an image wrt. a 3D scene model represents a core task for many computer vision applications. An increasing number of real-world applications of visual localization on mobile devices, e.g., Augmented Reality or autonomous robots such as drones or self-driving cars, demand localization approaches to minimize storage and bandwidth requirements. Compressing the 3D models used for localization thus becomes a practical necessity. In this work, we introduce a new hybrid compression algorithm that uses a given memory limit in a more effective way. Rather than treating all 3D points equally, it represents a small set of points with full appearance information and an additional, larger set of points with compressed information. This enables our approach to obtain a more complete scene representation without increasing the memory requirements, leading to a superior performance compared to previous compression schemes. As part of our contribution, we show how to handle ambiguous matches arising from point compression during RANSAC. Besides outperforming previous compression techniques in terms of pose accuracy under the same memory constraints, our compression scheme itself is also more efficient. Furthermore, the localization rates and accuracy obtained with our approach are comparable to state-of-the-art feature-based methods, while using a small fraction of the memory.Comment: Published at CVPR 201

Optimal column layout for hybrid workloads

Data-intensive analytical applications need to support both efficient reads and writes. However, what is usually a good data layout for an update-heavy workload, is not well-suited for a read-mostly one and vice versa. Modern analytical data systems rely on columnar layouts and employ delta stores to inject new data and updates. We show that for hybrid workloads we can achieve close to one order of magnitude better performance by tailoring the column layout design to the data and query workload. Our approach navigates the possible design space of the physical layout: it organizes each column’s data by determining the number of partitions, their corresponding sizes and ranges, and the amount of buffer space and how it is allocated. We frame these design decisions as an optimization problem that, given workload knowledge and performance requirements, provides an optimal physical layout for the workload at hand. To evaluate this work, we build an in-memory storage engine, Casper, and we show that it outperforms state-of-the-art data layouts of analytical systems for hybrid workloads. Casper delivers up to 2.32x higher throughput for update-intensive workloads and up to 2.14x higher throughput for hybrid workloads. We further show how to make data layout decisions robust to workload variation by carefully selecting the input of the optimization.http://www.vldb.org/pvldb/vol12/p2393-athanassoulis.pdfPublished versionPublished versio

High-Performance Passive Macromodeling Algorithms for Parallel Computing Platforms

This paper presents a comprehensive strategy for fast generation of passive macromodels of linear devices and interconnects on parallel computing hardware. Starting from a raw characterization of the structure in terms of frequency-domain tabulated scattering responses, we perform a rational curve fitting and a postprocessing passivity enforcement. Both algorithms are parallelized and cast in a form that is suitable for deployment on shared-memory multicore platforms. Particular emphasis is placed on the passivity characterization step, which is performed using two complementary strategies. The first uses an iterative restarted and deflated rational Arnoldi process to extract the imaginary Hamiltonian eigenvalues associated with the model. The second is based on an accuracy-controlled adaptive sampling. Various parallelization strategies are discussed for both schemes, with particular care on load balancing between different computing threads and memory occupation. The resulting parallel macromodeling flow is demonstrated on a number of medium- and large-scale structures, showing good scalability up to 16 computational core

High capacity audio watermarking using FFT amplitude interpolation

An audio watermarking technique in the frequency domain which takes advantage of interpolation is proposed. Interpolated FFT samples are used to generate imperceptible marks. The experimental results show that the suggested method has very high capacity (about 3kbps), without significant perceptual distortion (ODG about -0.5) and provides robustness against common audio signal processing such as echo, add noise, filtering, resampling and MPEG compression (MP3). Depending on the specific application, the tuning parameters could be selected adaptively to achieve even more capacity and better transparency