16,811 research outputs found
FastDepth: Fast Monocular Depth Estimation on Embedded Systems
Depth sensing is a critical function for robotic tasks such as localization,
mapping and obstacle detection. There has been a significant and growing
interest in depth estimation from a single RGB image, due to the relatively low
cost and size of monocular cameras. However, state-of-the-art single-view depth
estimation algorithms are based on fairly complex deep neural networks that are
too slow for real-time inference on an embedded platform, for instance, mounted
on a micro aerial vehicle. In this paper, we address the problem of fast depth
estimation on embedded systems. We propose an efficient and lightweight
encoder-decoder network architecture and apply network pruning to further
reduce computational complexity and latency. In particular, we focus on the
design of a low-latency decoder. Our methodology demonstrates that it is
possible to achieve similar accuracy as prior work on depth estimation, but at
inference speeds that are an order of magnitude faster. Our proposed network,
FastDepth, runs at 178 fps on an NVIDIA Jetson TX2 GPU and at 27 fps when using
only the TX2 CPU, with active power consumption under 10 W. FastDepth achieves
close to state-of-the-art accuracy on the NYU Depth v2 dataset. To the best of
the authors' knowledge, this paper demonstrates real-time monocular depth
estimation using a deep neural network with the lowest latency and highest
throughput on an embedded platform that can be carried by a micro aerial
vehicle.Comment: Accepted for presentation at ICRA 2019. 8 pages, 6 figures, 7 table
FPGA Implementation of Convolutional Neural Networks with Fixed-Point Calculations
Neural network-based methods for image processing are becoming widely used in
practical applications. Modern neural networks are computationally expensive
and require specialized hardware, such as graphics processing units. Since such
hardware is not always available in real life applications, there is a
compelling need for the design of neural networks for mobile devices. Mobile
neural networks typically have reduced number of parameters and require a
relatively small number of arithmetic operations. However, they usually still
are executed at the software level and use floating-point calculations. The use
of mobile networks without further optimization may not provide sufficient
performance when high processing speed is required, for example, in real-time
video processing (30 frames per second). In this study, we suggest
optimizations to speed up computations in order to efficiently use already
trained neural networks on a mobile device. Specifically, we propose an
approach for speeding up neural networks by moving computation from software to
hardware and by using fixed-point calculations instead of floating-point. We
propose a number of methods for neural network architecture design to improve
the performance with fixed-point calculations. We also show an example of how
existing datasets can be modified and adapted for the recognition task in hand.
Finally, we present the design and the implementation of a floating-point gate
array-based device to solve the practical problem of real-time handwritten
digit classification from mobile camera video feed
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