Embedded Vision Systems: A Review of the Literature

Over the past two decades, the use of low power Field Programmable Gate Arrays (FPGA) for the acceleration of various vision systems mainly on embedded devices have become widespread. The reconfigurable and parallel nature of the FPGA opens up new opportunities to speed-up computationally intensive vision and neural algorithms on embedded and portable devices. This paper presents a comprehensive review of embedded vision algorithms and applications over the past decade. The review will discuss vision based systems and approaches, and how they have been implemented on embedded devices. Topics covered include image acquisition, preprocessing, object detection and tracking, recognition as well as high-level classification. This is followed by an outline of the advantages and disadvantages of the various embedded implementations. Finally, an overview of the challenges in the field and future research trends are presented. This review is expected to serve as a tutorial and reference source for embedded computer vision systems

Modeling and Mapping of Optimized Schedules for Embedded Signal Processing Systems

The demand for Digital Signal Processing (DSP) in embedded systems has been increasing rapidly due to the proliferation of multimedia- and communication-intensive devices such as pervasive tablets and smart phones. Efficient implementation of embedded DSP systems requires integration of diverse hardware and software components, as well as dynamic workload distribution across heterogeneous computational resources. The former implies increased complexity of application modeling and analysis, but also brings enhanced potential for achieving improved energy consumption, cost or performance. The latter results from the increased use of dynamic behavior in embedded DSP applications. Furthermore, parallel programming is highly relevant in many embedded DSP areas due to the development and use of Multiprocessor System-On-Chip (MPSoC) technology. The need for efficient cooperation among different devices supporting diverse parallel embedded computations motivates high-level modeling that expresses dynamic signal processing behaviors and supports efficient task scheduling and hardware mapping. Starting with dynamic modeling, this thesis develops a systematic design methodology that supports functional simulation and hardware mapping of dynamic reconfiguration based on Parameterized Synchronous Dataflow (PSDF) graphs. By building on the DIF (Dataflow Interchange Format), which is a design language and associated software package for developing and experimenting with dataflow-based design techniques for signal processing systems, we have developed a novel tool for functional simulation of PSDF specifications. This simulation tool allows designers to model applications in PSDF and simulate their functionality, including use of the dynamic parameter reconfiguration capabilities offered by PSDF. With the help of this simulation tool, our design methodology helps to map PSDF specifications into efficient implementations on field programmable gate arrays (FPGAs). Furthermore, valid schedules can be derived from the PSDF models at runtime to adapt hardware configurations based on changing data characteristics or operational requirements. Under certain conditions, efficient quasi-static schedules can be applied to reduce overhead and enhance predictability in the scheduling process. Motivated by the fact that scheduling is critical to performance and to efficient use of dynamic reconfiguration, we have focused on a methodology for schedule design, which complements the emphasis on automated schedule construction in the existing literature on dataflow-based design and implementation. In particular, we have proposed a dataflow-based schedule design framework called the dataflow schedule graph (DSG), which provides a graphical framework for schedule construction based on dataflow semantics, and can also be used as an intermediate representation target for automated schedule generation. Our approach to applying the DSG in this thesis emphasizes schedule construction as a design process rather than an outcome of the synthesis process. Our approach employs dataflow graphs for representing both application models and schedules that are derived from them. By providing a dataflow-integrated framework for unambiguously representing, analyzing, manipulating, and interchanging schedules, the DSG facilitates effective codesign of dataflow-based application models and schedules for execution of these models. As multicore processors are deployed in an increasing variety of embedded image processing systems, effective utilization of resources such as multiprocessor systemon-chip (MPSoC) devices, and effective handling of implementation concerns such as memory management and I/O become critical to developing efficient embedded implementations. However, the diversity and complexity of applications and architectures in embedded image processing systems make the mapping of applications onto MPSoCs difficult. We help to address this challenge through a structured design methodology that is built upon the DSG modeling framework. We refer to this methodology as the DEIPS methodology (DSG-based design and implementation of Embedded Image Processing Systems). The DEIPS methodology provides a unified framework for joint consideration of DSG structures and the application graphs from which they are derived, which allows designers to integrate considerations of parallelization and resource constraints together with the application modeling process. We demonstrate the DEIPS methodology through cases studies on practical embedded image processing systems

Interconnect architectures for dynamically partially reconfigurable systems

Dynamically partially reconfigurable FPGAs (Field-Programmable Gate Arrays) allow hardware modules to be placed and removed at runtime while other parts of the system keep working. With their potential benefits, they have been the topic of a great deal of research over the last decade. To exploit the partial reconfiguration capability of FPGAs, there is a need for efficient, dynamically adaptive communication infrastructure that automatically adapts as modules are added to and removed from the system. Many bus and network-on-chip (NoC) architectures have been proposed to exploit this capability on FPGA technology. However, few realizations have been reported in the public literature to demonstrate or compare their performance in real world applications. While partial reconfiguration can offer many benefits, it is still rarely exploited in practical applications. Few full realizations of partially reconfigurable systems in current FPGA technologies have been published. More application experiments are required to understand the benefits and limitations of implementing partially reconfigurable systems and to guide their further development. The motivation of this thesis is to fill this research gap by providing empirical evidence of the cost and benefits of different interconnect architectures. The results will provide a baseline for future research and will be directly useful for circuit designers who must make a well-reasoned choice between the alternatives. This thesis contains the results of experiments to compare different NoC and bus interconnect architectures for FPGA-based designs in general and dynamically partially reconfigurable systems. These two interconnect schemes are implemented and evaluated in terms of performance, area and power consumption using FFT (Fast Fourier Transform) andANN(Artificial Neural Network) systems as benchmarks. Conclusions drawn from these results include recommendations concerning the interconnect approach for different kinds of applications. It is found that a NoC provides much better performance than a single channel bus and similar performance to a multi-channel bus in both parallel and parallel-pipelined FFT systems. This suggests that a NoC is a better choice for systems with multiple simultaneous communications like the FFT. Bus-based interconnect achieves better performance and consume less area and power than NoCbased scheme for the fully-connected feed-forward NN system. This suggests buses are a better choice for systems that do not require many simultaneous communications or systems with broadcast communications like a fully-connected feed-forward NN. Results from the experiments with dynamic partial reconfiguration demonstrate that buses have the advantages of better resource utilization and smaller reconfiguration time and memory than NoCs. However, NoCs are more flexible and expansible. They have the advantage of placing almost all of the communication infrastructure in the dynamic reconfiguration region. This means that different applications running on the FPGA can use different interconnection strategies without the overhead of fixed bus resources in the static region. Another objective of the research is to examine the partial reconfiguration process and reconfiguration overhead with current FPGA technologies. Partial reconfiguration allows users to efficiently change the number of running PEs to choose an optimal powerperformance operating point at the minimum cost of reconfiguration. However, this brings drawbacks including resource utilization inefficiency, power consumption overhead and decrease in system operating frequency. The experimental results report a 50% of resource utilization inefficiency with a power consumption overhead of less than 5% and a decrease in frequency of up to 32% compared to a static implementation. The results also show that most of the drawbacks of partial reconfiguration implementation come from the restrictions and limitations of partial reconfiguration design flow. If these limitations can be addressed, partial reconfiguration should still be considered with its potential benefits.Thesis (Ph.D.) -- University of Adelaide, School of Electrical and Electronic Engineering, 201

Toolflows for Mapping Convolutional Neural Networks on FPGAs: A Survey and Future Directions

In the past decade, Convolutional Neural Networks (CNNs) have demonstrated state-of-the-art performance in various Artificial Intelligence tasks. To accelerate the experimentation and development of CNNs, several software frameworks have been released, primarily targeting power-hungry CPUs and GPUs. In this context, reconfigurable hardware in the form of FPGAs constitutes a potential alternative platform that can be integrated in the existing deep learning ecosystem to provide a tunable balance between performance, power consumption and programmability. In this paper, a survey of the existing CNN-to-FPGA toolflows is presented, comprising a comparative study of their key characteristics which include the supported applications, architectural choices, design space exploration methods and achieved performance. Moreover, major challenges and objectives introduced by the latest trends in CNN algorithmic research are identified and presented. Finally, a uniform evaluation methodology is proposed, aiming at the comprehensive, complete and in-depth evaluation of CNN-to-FPGA toolflows.Comment: Accepted for publication at the ACM Computing Surveys (CSUR) journal, 201

Neuraghe: Exploiting CPU-FPGA synergies for efficient and flexible CNN inference acceleration on zynQ SoCs

Deep convolutional neural networks (CNNs) obtain outstanding results in tasks that require human-level understanding of data, like image or speech recognition. However, their computational load is significant, motivating the development of CNN-specialized accelerators. This work presents NEURAghe, a flexible and efficient hardware/software solution for the acceleration of CNNs on Zynq SoCs. NEURAghe leverages the synergistic usage of Zynq ARM cores and of a powerful and flexible Convolution-Specific Processor deployed on the reconfigurable logic. The Convolution-Specific Processor embeds both a convolution engine and a programmable soft core, releasing the ARM processors from most of the supervision duties and allowing the accelerator to be controlled by software at an ultra-fine granularity. This methodology opens the way for cooperative heterogeneous computing: While the accelerator takes care of the bulk of the CNN workload, the ARM cores can seamlessly execute hard-to-accelerate parts of the computational graph, taking advantage of the NEON vector engines to further speed up computation. Through the companion NeuDNN SW stack, NEURAghe supports end-to-end CNN-based classification with a peak performance of 169GOps/s and an energy efficiency of 17GOps/W. Thanks to our heterogeneous computing model, our platform improves upon the state-of-the-art, achieving a frame rate of 5.5 frames per second (fps) on the end-to-end execution of VGG-16 and 6.6fps on ResNet-18

Enhancing Performance of Computer Vision Applications on Low-Power Embedded Systems Through Heterogeneous Parallel Programming

Enabling computer vision applications on low-power embedded systems gives rise to new challenges for embedded SW developers. Such applications implement different functionalities, like image recognition based on deep learning, simultaneous localization and mapping tasks. They are characterized by stringent performance constraints to guarantee real-time behaviors and, at the same time, energy constraints to save battery on the mobile platform. Even though heterogeneous embedded boards are getting pervasive for their high computational power at low power costs, they need a time consuming customization of the whole application (i.e., mapping of application blocks to CPUGPU processing elements and their synchronization) to efficiently exploit their potentiality. Different languages and environments have been proposed for such an embedded SW customization. Nevertheless, they often find limitations on complex real cases, as their application is mutual exclusive. This paper presents a comprehensive framework that relies on a heterogeneous parallel programming model, which combines OpenMP, PThreads, OpenVX, OpenCV, and CUDA to best exploit different levels of parallelism while guaranteeing a semi-automatic customization. The paper shows how such languages and API platforms have been interfaced, synchronized, and applied to customize an ORBSLAM application for an NVIDIA Jetson TX2 board

Heterogeneous parallel virtual machine: A portable program representation and compiler for performance and energy optimizations on heterogeneous parallel systems

Programming heterogeneous parallel systems, such as the SoCs (System-on-Chip) on mobile and edge devices is extremely difficult; the diverse parallel hardware they contain exposes vastly different hardware instruction sets, parallelism models and memory systems. Moreover, a wide range of diverse hardware and software approximation techniques are available for applications targeting heterogeneous SoCs, further exacerbating the programmability challenges. In this thesis, we alleviate the programmability challenges of such systems using flexible compiler intermediate representation solutions, in order to benefit from the performance and superior energy efficiency of heterogeneous systems. First, we develop Heterogeneous Parallel Virtual Machine (HPVM), a parallel program representation for heterogeneous systems, designed to enable functional and performance portability across popular parallel hardware. HPVM is based on a hierarchical dataflow graph with side effects. HPVM successfully supports three important capabilities for programming heterogeneous systems: a compiler intermediate representation (IR), a virtual instruction set (ISA), and a basis for runtime scheduling. We use the HPVM representation to implement an HPVM prototype, defining the HPVM IR as an extension of the Low Level Virtual Machine (LLVM) IR. Our results show comparable performance with optimized OpenCL kernels for the target hardware from a single HPVM representation using translators from HPVM virtual ISA to native code, IR optimizations operating directly on the HPVM representation, and the capability for supporting flexible runtime scheduling schemes from a single HPVM representation. We extend HPVM to ApproxHPVM, introducing hardware-independent approximation metrics in the IR to enable maintaining accuracy information at the IR level and mapping of application-level end-to-end quality metrics to system level "knobs". The approximation metrics quantify the acceptable accuracy loss for individual computations. Application programmers only need to specify high-level, and end-to-end, quality metrics, instead of detailed parameters for individual approximation methods. The ApproxHPVM system then automatically tunes the accuracy requirements of individual computations and maps them to approximate hardware when possible. ApproxHPVM results show significant performance and energy improvements for popular deep learning benchmarks. Finally, we extend to ApproxHPVM to ApproxTuner, a compiler and runtime system for approximation. ApproxTuner extends ApproxHPVM with a wide range of hardware and software approximation techniques. It uses a three step approximation tuning strategy, a combination of development-time, install-time, and dynamic tuning. Our strategy ensures software portability, even though approximations have highly hardware-dependent performance, and enables efficient dynamic approximation tuning despite the expensive offline steps. ApproxTuner results show significant performance and energy improvements across 7 Deep Neural Networks and 3 image processing benchmarks, and ensures that high-level end-to-end quality specifications are satisfied during adaptive approximation tuning

Analysis of a Pipelined Architecture for Sparse DNNs on Embedded Systems

Deep neural networks (DNNs) are increasing their presence in a wide range of applications, and their computationally intensive and memory-demanding nature poses challenges, especially for embedded systems. Pruning techniques turn DNN models into sparse by setting most weights to zero, offering optimization opportunities if specific support is included. We propose a novel pipelined architecture for DNNs that avoids all useless operations during the inference process. It has been implemented in a field-programmable gate array (FPGA), and the performance, energy efficiency, and area have been characterized. Exploiting sparsity yields remarkable speedups but also produces area overheads. We have evaluated this tradeoff in order to identify in which scenarios it is better to use that area to exploit sparsity, or to include more computational resources in a conventional DNN architecture. We have also explored different arithmetic bitwidths. Our sparse architecture is clearly superior on 32-bit arithmetic or highly sparse networks. However, on 8-bit arithmetic or networks with low sparsity it is more profitable to deploy a dense architecture with more arithmetic resources than including support for sparsity. We consider that FPGAs are the natural target for DNN sparse accelerators since they can be loaded at run-time with the best-fitting accelerator

Memory hierarchy and data communication in heterogeneous reconfigurable SoCs

The miniaturization race in the hardware industry aiming at continuous increasing of transistor density on a die does not bring respective application performance improvements any more. One of the most promising alternatives is to exploit a heterogeneous nature of common applications in hardware. Supported by reconfigurable computation, which has already proved its efficiency in accelerating data intensive applications, this concept promises a breakthrough in contemporary technology development. Memory organization in such heterogeneous reconfigurable architectures becomes very critical. Two primary aspects introduce a sophisticated trade-off. On the one hand, a memory subsystem should provide well organized distributed data structure and guarantee the required data bandwidth. On the other hand, it should hide the heterogeneous hardware structure from the end-user, in order to support feasible high-level programmability of the system. This thesis work explores the heterogeneous reconfigurable hardware architectures and presents possible solutions to cope the problem of memory organization and data structure. By the example of the MORPHEUS heterogeneous platform, the discussion follows the complete design cycle, starting from decision making and justification, until hardware realization. Particular emphasis is made on the methods to support high system performance, meet application requirements, and provide a user-friendly programmer interface. As a result, the research introduces a complete heterogeneous platform enhanced with a hierarchical memory organization, which copes with its task by means of separating computation from communication, providing reconfigurable engines with computation and configuration data, and unification of heterogeneous computational devices using local storage buffers. It is distinguished from the related solutions by distributed data-flow organization, specifically engineered mechanisms to operate with data on local domains, particular communication infrastructure based on Network-on-Chip, and thorough methods to prevent computation and communication stalls. In addition, a novel advanced technique to accelerate memory access was developed and implemented