How to Train a CAT: Learning Canonical Appearance Transformations for Direct Visual Localization Under Illumination Change

Direct visual localization has recently enjoyed a resurgence in popularity with the increasing availability of cheap mobile computing power. The competitive accuracy and robustness of these algorithms compared to state-of-the-art feature-based methods, as well as their natural ability to yield dense maps, makes them an appealing choice for a variety of mobile robotics applications. However, direct methods remain brittle in the face of appearance change due to their underlying assumption of photometric consistency, which is commonly violated in practice. In this paper, we propose to mitigate this problem by training deep convolutional encoder-decoder models to transform images of a scene such that they correspond to a previously-seen canonical appearance. We validate our method in multiple environments and illumination conditions using high-fidelity synthetic RGB-D datasets, and integrate the trained models into a direct visual localization pipeline, yielding improvements in visual odometry (VO) accuracy through time-varying illumination conditions, as well as improved metric relocalization performance under illumination change, where conventional methods normally fail. We further provide a preliminary investigation of transfer learning from synthetic to real environments in a localization context. An open-source implementation of our method using PyTorch is available at https://github.com/utiasSTARS/cat-net.Comment: In IEEE Robotics and Automation Letters (RA-L) and presented at the IEEE International Conference on Robotics and Automation (ICRA'18), Brisbane, Australia, May 21-25, 201

Dynamic Vision Sensor integration on FPGA-based CNN accelerators for high-speed visual classification

Deep-learning is a cutting edge theory that is being applied to many fields. For vision applications the Convolutional Neural Networks (CNN) are demanding significant accuracy for classification tasks. Numerous hardware accelerators have populated during the last years to improve CPU or GPU based solutions. This technology is commonly prototyped and tested over FPGAs before being considered for ASIC fabrication for mass production. The use of commercial typical cameras (30fps) limits the capabilities of these systems for high speed applications. The use of dynamic vision sensors (DVS) that emulate the behavior of a biological retina is taking an incremental importance to improve this applications due to its nature, where the information is represented by a continuous stream of spikes and the frames to be processed by the CNN are constructed collecting a fixed number of these spikes (called events). The faster an object is, the more events are produced by DVS, so the higher is the equivalent frame rate. Therefore, these DVS utilization allows to compute a frame at the maximum speed a CNN accelerator can offer. In this paper we present a VHDL/HLS description of a pipelined design for FPGA able to collect events from an Address-Event-Representation (AER) DVS retina to obtain a normalized histogram to be used by a particular CNN accelerator, called NullHop. VHDL is used to describe the circuit, and HLS for computation blocks, which are used to perform the normalization of a frame needed for the CNN. Results outperform previous implementations of frames collection and normalization using ARM processors running at 800MHz on a Zynq7100 in both latency and power consumption. A measured 67% speedup factor is presented for a Roshambo CNN real-time experiment running at 160fps peak rate.Comment: 7 page

Distributed OpenGL Rendering in Network Bandwidth Constrained Environments

Display walls made from multiple monitors are often used when very high resolution images are required. To utilise a display wall, rendering information must be sent to each computer that the monitors are connect to. The network is often the performance bottleneck for demanding applications, like high performance 3D animations. This paper introduces ClusterGL; a distribution library for OpenGL applications. ClusterGL reduces network traffic by using compression, frame differencing and multi-cast. Existing applications can use ClusterGL without recompilation. Benchmarks show that, for most applications, ClusterGL outperforms other systems that support unmodified OpenGL applications including Chromium and BroadcastGL. The difference is larger for more complex scene geometries and when there are more display machines. For example, when rendering OpenArena, ClusterGL outperforms Chromium by over 300% on the Symphony display wall at The University of Waikato, New Zealand. This display has 20 monitors supported by five computers connected by gigabit Ethernet, with a full resolution of over 35 megapixels. ClusterGL is freely available via Google Code

Optimizing Lossy Compression Rate-Distortion from Automatic Online Selection between SZ and ZFP

With ever-increasing volumes of scientific data produced by HPC applications, significantly reducing data size is critical because of limited capacity of storage space and potential bottlenecks on I/O or networks in writing/reading or transferring data. SZ and ZFP are the two leading lossy compressors available to compress scientific data sets. However, their performance is not consistent across different data sets and across different fields of some data sets: for some fields SZ provides better compression performance, while other fields are better compressed with ZFP. This situation raises the need for an automatic online (during compression) selection between SZ and ZFP, with a minimal overhead. In this paper, the automatic selection optimizes the rate-distortion, an important statistical quality metric based on the signal-to-noise ratio. To optimize for rate-distortion, we investigate the principles of SZ and ZFP. We then propose an efficient online, low-overhead selection algorithm that predicts the compression quality accurately for two compressors in early processing stages and selects the best-fit compressor for each data field. We implement the selection algorithm into an open-source library, and we evaluate the effectiveness of our proposed solution against plain SZ and ZFP in a parallel environment with 1,024 cores. Evaluation results on three data sets representing about 100 fields show that our selection algorithm improves the compression ratio up to 70% with the same level of data distortion because of very accurate selection (around 99%) of the best-fit compressor, with little overhead (less than 7% in the experiments).Comment: 14 pages, 9 figures, first revisio

Approximation algorithms for wavelet transform coding of data streams

This paper addresses the problem of finding a B-term wavelet representation of a given discrete function $f \in \real^n$ whose distance from f is minimized. The problem is well understood when we seek to minimize the Euclidean distance between f and its representation. The first known algorithms for finding provably approximate representations minimizing general $\ell_p$ distances (including $\ell_\infty$) under a wide variety of compactly supported wavelet bases are presented in this paper. For the Haar basis, a polynomial time approximation scheme is demonstrated. These algorithms are applicable in the one-pass sublinear-space data stream model of computation. They generalize naturally to multiple dimensions and weighted norms. A universal representation that provides a provable approximation guarantee under all p-norms simultaneously; and the first approximation algorithms for bit-budget versions of the problem, known as adaptive quantization, are also presented. Further, it is shown that the algorithms presented here can be used to select a basis from a tree-structured dictionary of bases and find a B-term representation of the given function that provably approximates its best dictionary-basis representation.Comment: Added a universal representation that provides a provable approximation guarantee under all p-norms simultaneousl