43 research outputs found
Introducing SLAMBench, a performance and accuracy benchmarking methodology for SLAM
Real-time dense computer vision and SLAM offer great potential for a new
level of scene modelling, tracking and real environmental interaction for many
types of robot, but their high computational requirements mean that use on mass
market embedded platforms is challenging. Meanwhile, trends in low-cost,
low-power processing are towards massive parallelism and heterogeneity, making
it difficult for robotics and vision researchers to implement their algorithms
in a performance-portable way. In this paper we introduce SLAMBench, a
publicly-available software framework which represents a starting point for
quantitative, comparable and validatable experimental research to investigate
trade-offs in performance, accuracy and energy consumption of a dense RGB-D
SLAM system. SLAMBench provides a KinectFusion implementation in C++, OpenMP,
OpenCL and CUDA, and harnesses the ICL-NUIM dataset of synthetic RGB-D
sequences with trajectory and scene ground truth for reliable accuracy
comparison of different implementation and algorithms. We present an analysis
and breakdown of the constituent algorithmic elements of KinectFusion, and
experimentally investigate their execution time on a variety of multicore and
GPUaccelerated platforms. For a popular embedded platform, we also present an
analysis of energy efficiency for different configuration alternatives.Comment: 8 pages, ICRA 2015 conference pape
SLAMBench 3.0:Systematic Automated Reproducible Evaluation of SLAM Systems for Robot Vision Challenges and Scene Understanding
As the SLAM research area matures and the number of SLAM systems available increases, the need for frameworks that can objectively evaluate them against prior work grows. This new version of SLAMBench moves beyond traditional visual SLAM, and provides new support for scene understanding and non-rigid environments (dynamic SLAM). More concretely for dynamic SLAM, SLAMBench 3.0 includes the first publicly available implementation of DynamicFusion, along with an evaluation infrastructure. In addition, we include two SLAM systems (one dense, one sparse) augmented with convolutional neural networks for scene understanding, together with datasets and appropriate metrics. Through a series of use-cases, we demonstrate the newly incorporated algorithms, visulation aids and metrics (6 new metrics, 4 new datasets and 5 new algorithms)
Navigating the Landscape for Real-time Localisation and Mapping for Robotics, Virtual and Augmented Reality
Visual understanding of 3D environments in real-time, at low power, is a huge
computational challenge. Often referred to as SLAM (Simultaneous Localisation
and Mapping), it is central to applications spanning domestic and industrial
robotics, autonomous vehicles, virtual and augmented reality. This paper
describes the results of a major research effort to assemble the algorithms,
architectures, tools, and systems software needed to enable delivery of SLAM,
by supporting applications specialists in selecting and configuring the
appropriate algorithm and the appropriate hardware, and compilation pathway, to
meet their performance, accuracy, and energy consumption goals. The major
contributions we present are (1) tools and methodology for systematic
quantitative evaluation of SLAM algorithms, (2) automated,
machine-learning-guided exploration of the algorithmic and implementation
design space with respect to multiple objectives, (3) end-to-end simulation
tools to enable optimisation of heterogeneous, accelerated architectures for
the specific algorithmic requirements of the various SLAM algorithmic
approaches, and (4) tools for delivering, where appropriate, accelerated,
adaptive SLAM solutions in a managed, JIT-compiled, adaptive runtime context.Comment: Proceedings of the IEEE 201
Algorithmic Performance-Accuracy Trade-off in 3D Vision Applications Using HyperMapper
In this paper we investigate an emerging application, 3D scene understanding,
likely to be significant in the mobile space in the near future. The goal of
this exploration is to reduce execution time while meeting our quality of
result objectives. In previous work we showed for the first time that it is
possible to map this application to power constrained embedded systems,
highlighting that decision choices made at the algorithmic design-level have
the most impact.
As the algorithmic design space is too large to be exhaustively evaluated, we
use a previously introduced multi-objective Random Forest Active Learning
prediction framework dubbed HyperMapper, to find good algorithmic designs. We
show that HyperMapper generalizes on a recent cutting edge 3D scene
understanding algorithm and on a modern GPU-based computer architecture.
HyperMapper is able to beat an expert human hand-tuning the algorithmic
parameters of the class of Computer Vision applications taken under
consideration in this paper automatically. In addition, we use crowd-sourcing
using a 3D scene understanding Android app to show that the Pareto front
obtained on an embedded system can be used to accelerate the same application
on all the 83 smart-phones and tablets crowd-sourced with speedups ranging from
2 to over 12.Comment: 10 pages, Keywords: design space exploration, machine learning,
computer vision, SLAM, embedded systems, GPU, crowd-sourcin