34,240 research outputs found
Event-based Vision: A Survey
Event cameras are bio-inspired sensors that differ from conventional frame
cameras: Instead of capturing images at a fixed rate, they asynchronously
measure per-pixel brightness changes, and output a stream of events that encode
the time, location and sign of the brightness changes. Event cameras offer
attractive properties compared to traditional cameras: high temporal resolution
(in the order of microseconds), very high dynamic range (140 dB vs. 60 dB), low
power consumption, and high pixel bandwidth (on the order of kHz) resulting in
reduced motion blur. Hence, event cameras have a large potential for robotics
and computer vision in challenging scenarios for traditional cameras, such as
low-latency, high speed, and high dynamic range. However, novel methods are
required to process the unconventional output of these sensors in order to
unlock their potential. This paper provides a comprehensive overview of the
emerging field of event-based vision, with a focus on the applications and the
algorithms developed to unlock the outstanding properties of event cameras. We
present event cameras from their working principle, the actual sensors that are
available and the tasks that they have been used for, from low-level vision
(feature detection and tracking, optic flow, etc.) to high-level vision
(reconstruction, segmentation, recognition). We also discuss the techniques
developed to process events, including learning-based techniques, as well as
specialized processors for these novel sensors, such as spiking neural
networks. Additionally, we highlight the challenges that remain to be tackled
and the opportunities that lie ahead in the search for a more efficient,
bio-inspired way for machines to perceive and interact with the world
GraphBLAST: A High-Performance Linear Algebra-based Graph Framework on the GPU
High-performance implementations of graph algorithms are challenging to
implement on new parallel hardware such as GPUs because of three challenges:
(1) the difficulty of coming up with graph building blocks, (2) load imbalance
on parallel hardware, and (3) graph problems having low arithmetic intensity.
To address some of these challenges, GraphBLAS is an innovative, on-going
effort by the graph analytics community to propose building blocks based on
sparse linear algebra, which will allow graph algorithms to be expressed in a
performant, succinct, composable and portable manner. In this paper, we examine
the performance challenges of a linear-algebra-based approach to building graph
frameworks and describe new design principles for overcoming these bottlenecks.
Among the new design principles is exploiting input sparsity, which allows
users to write graph algorithms without specifying push and pull direction.
Exploiting output sparsity allows users to tell the backend which values of the
output in a single vectorized computation they do not want computed.
Load-balancing is an important feature for balancing work amongst parallel
workers. We describe the important load-balancing features for handling graphs
with different characteristics. The design principles described in this paper
have been implemented in "GraphBLAST", the first high-performance linear
algebra-based graph framework on NVIDIA GPUs that is open-source. The results
show that on a single GPU, GraphBLAST has on average at least an order of
magnitude speedup over previous GraphBLAS implementations SuiteSparse and GBTL,
comparable performance to the fastest GPU hardwired primitives and
shared-memory graph frameworks Ligra and Gunrock, and better performance than
any other GPU graph framework, while offering a simpler and more concise
programming model.Comment: 50 pages, 14 figures, 14 table
Robust Component-based Network Localization with Noisy Range Measurements
Accurate and robust localization is crucial for wireless ad-hoc and sensor
networks. Among the localization techniques, component-based methods advance
themselves for conquering network sparseness and anchor sparseness. But
component-based methods are sensitive to ranging noises, which may cause a huge
accumulated error either in component realization or merging process. This
paper presents three results for robust component-based localization under
ranging noises. (1) For a rigid graph component, a novel method is proposed to
evaluate the graph's possible number of flip ambiguities under noises. In
particular, graph's \emph{MInimal sepaRators that are neaRly cOllineaR
(MIRROR)} is presented as the cause of flip ambiguity, and the number of
MIRRORs indicates the possible number of flip ambiguities under noise. (2) Then
the sensitivity of a graph's local deforming regarding ranging noises is
investigated by perturbation analysis. A novel Ranging Sensitivity Matrix (RSM)
is proposed to estimate the node location perturbations due to ranging noises.
(3) By evaluating component robustness via the flipping and the local deforming
risks, a Robust Component Generation and Realization (RCGR) algorithm is
developed, which generates components based on the robustness metrics. RCGR was
evaluated by simulations, which showed much better noise resistance and
locating accuracy improvements than state-of-the-art of component-based
localization algorithms.Comment: 9 pages, 15 figures, ICCCN 2018, Hangzhou, Chin
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