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

Frequency-splitting Dynamic MRI Reconstruction using Multi-scale 3D Convolutional Sparse Coding and Automatic Parameter Selection

Department of Computer Science and EngineeringIn this thesis, we propose a novel image reconstruction algorithm using multi-scale 3D con- volutional sparse coding and a spectral decomposition technique for highly undersampled dy- namic Magnetic Resonance Imaging (MRI) data. The proposed method recovers high-frequency information using a shared 3D convolution-based dictionary built progressively during the re- construction process in an unsupervised manner, while low-frequency information is recovered using a total variation-based energy minimization method that leverages temporal coherence in dynamic MRI. Additionally, the proposed 3D dictionary is built across three different scales to more efficiently adapt to various feature sizes, and elastic net regularization is employed to promote a better approximation to the sparse input data. Furthermore, the computational com- plexity of each component in our iterative method is analyzed. We also propose an automatic parameter selection technique based on a genetic algorithm to find optimal parameters for our numerical solver which is a variant of the alternating direction method of multipliers (ADMM). We demonstrate the performance of our method by comparing it with state-of-the-art methods on 15 single-coil cardiac, 7 single-coil DCE, and a multi-coil brain MRI datasets at different sampling rates (12.5%, 25% and 50%). The results show that our method significantly outper- forms the other state-of-the-art methods in reconstruction quality with a comparable running time and is resilient to noise.ope

Finding faint HI structure in and around galaxies: scraping the barrel

Soon to be operational HI survey instruments such as APERTIF and ASKAP will produce large datasets. These surveys will provide information about the HI in and around hundreds of galaxies with a typical signal-to-noise ratio of $\sim$ 10 in the inner regions and $\sim$ 1 in the outer regions. In addition, such surveys will make it possible to probe faint HI structures, typically located in the vicinity of galaxies, such as extra-planar-gas, tails and filaments. These structures are crucial for understanding galaxy evolution, particularly when they are studied in relation to the local environment. Our aim is to find optimized kernels for the discovery of faint and morphologically complex HI structures. Therefore, using HI data from a variety of galaxies, we explore state-of-the-art filtering algorithms. We show that the intensity-driven gradient filter, due to its adaptive characteristics, is the optimal choice. In fact, this filter requires only minimal tuning of the input parameters to enhance the signal-to-noise ratio of faint components. In addition, it does not degrade the resolution of the high signal-to-noise component of a source. The filtering process must be fast and be embedded in an interactive visualization tool in order to support fast inspection of a large number of sources. To achieve such interactive exploration, we implemented a multi-core CPU (OpenMP) and a GPU (OpenGL) version of this filter in a 3D visualization environment ($\tt{SlicerAstro}$).Comment: 17 pages, 9 figures, 4 tables. Astronomy and Computing, accepte