238,505 research outputs found
Propagating Confidences through CNNs for Sparse Data Regression
In most computer vision applications, convolutional neural networks (CNNs)
operate on dense image data generated by ordinary cameras. Designing CNNs for
sparse and irregularly spaced input data is still an open problem with numerous
applications in autonomous driving, robotics, and surveillance. To tackle this
challenging problem, we introduce an algebraically-constrained convolution
layer for CNNs with sparse input and demonstrate its capabilities for the scene
depth completion task. We propose novel strategies for determining the
confidence from the convolution operation and propagating it to consecutive
layers. Furthermore, we propose an objective function that simultaneously
minimizes the data error while maximizing the output confidence. Comprehensive
experiments are performed on the KITTI depth benchmark and the results clearly
demonstrate that the proposed approach achieves superior performance while
requiring three times fewer parameters than the state-of-the-art methods.
Moreover, our approach produces a continuous pixel-wise confidence map enabling
information fusion, state inference, and decision support.Comment: To appear in the British Machine Vision Conference (BMVC2018
Providing End-to-End Delay Guarantees for Multi-hop Wireless Sensor Networks over Unreliable Channels
Wireless sensor networks have been increasingly used for real-time
surveillance over large areas. In such applications, it is important to support
end-to-end delay constraints for packet deliveries even when the corresponding
flows require multi-hop transmissions. In addition to delay constraints, each
flow of real-time surveillance may require some guarantees on throughput of
packets that meet the delay constraints. Further, as wireless sensor networks
are usually deployed in challenging environments, it is important to
specifically consider the effects of unreliable wireless transmissions.
In this paper, we study the problem of providing end-to-end delay guarantees
for multi-hop wireless networks. We propose a model that jointly considers the
end-to-end delay constraints and throughput requirements of flows, the need for
multi-hop transmissions, and the unreliable nature of wireless transmissions.
We develop a framework for designing feasibility-optimal policies. We then
demonstrate the utility of this framework by considering two types of systems:
one where sensors are equipped with full-duplex radios, and the other where
sensors are equipped with half-duplex radios. When sensors are equipped with
full-duplex radios, we propose an online distributed scheduling policy and
proves the policy is feasibility-optimal. We also provide a heuristic for
systems where sensors are equipped with half-duplex radios. We show that this
heuristic is still feasibility-optimal for some topologies
Explicit rate control for MANET
Streaming applications over Mobile Ad-hoc Networks (MANET) require a smooth transmission rate. The Internet is unable to provide this service during traffic congestion in the network. Designing congestion control for these applications is challenging, because the standard TCP congestion control mechanism is not able to handle the special properties of a shared wireless multi hop channel well. In particular, the frequent changes to the network topology and the shared nature of the wireless channel pose major challenges. In this paper, we propose a novel approach, which allows a quick increase of throughput by using explicit feedback from routers
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