81,649 research outputs found
Acceleration of stereo-matching on multi-core CPU and GPU
This paper presents an accelerated version of a
dense stereo-correspondence algorithm for two different parallelism
enabled architectures, multi-core CPU and GPU. The
algorithm is part of the vision system developed for a binocular
robot-head in the context of the CloPeMa 1 research project.
This research project focuses on the conception of a new clothes
folding robot with real-time and high resolution requirements
for the vision system. The performance analysis shows that
the parallelised stereo-matching algorithm has been significantly
accelerated, maintaining 12x and 176x speed-up respectively
for multi-core CPU and GPU, compared with non-SIMD singlethread
CPU. To analyse the origin of the speed-up and gain
deeper understanding about the choice of the optimal hardware,
the algorithm was broken into key sub-tasks and the performance
was tested for four different hardware architectures
Statistical inference in mechanistic models: time warping for improved gradient matching
Inference in mechanistic models of non-linear differential equations is a challenging problem in current computational statistics. Due to the high computational costs of numerically solving the differential equations in every step of an iterative parameter adaptation scheme, approximate methods based on gradient matching have become popular. However, these methods critically depend on the smoothing scheme for function interpolation. The present article adapts an idea from manifold learning and demonstrates that a time warping approach aiming to homogenize intrinsic length scales can lead to a significant improvement in parameter estimation accuracy. We demonstrate the effectiveness of this scheme on noisy data from two dynamical systems with periodic limit cycle, a biopathway, and an application from soft-tissue mechanics. Our study also provides a comparative evaluation on a wide range of signal-to-noise ratios
A multidomain spectral method for solving elliptic equations
We present a new solver for coupled nonlinear elliptic partial differential
equations (PDEs). The solver is based on pseudo-spectral collocation with
domain decomposition and can handle one- to three-dimensional problems. It has
three distinct features. First, the combined problem of solving the PDE,
satisfying the boundary conditions, and matching between different subdomains
is cast into one set of equations readily accessible to standard linear and
nonlinear solvers. Second, touching as well as overlapping subdomains are
supported; both rectangular blocks with Chebyshev basis functions as well as
spherical shells with an expansion in spherical harmonics are implemented.
Third, the code is very flexible: The domain decomposition as well as the
distribution of collocation points in each domain can be chosen at run time,
and the solver is easily adaptable to new PDEs. The code has been used to solve
the equations of the initial value problem of general relativity and should be
useful in many other problems. We compare the new method to finite difference
codes and find it superior in both runtime and accuracy, at least for the
smooth problems considered here.Comment: 31 pages, 8 figure
Compressive Time Delay Estimation Using Interpolation
Time delay estimation has long been an active area of research. In this work,
we show that compressive sensing with interpolation may be used to achieve good
estimation precision while lowering the sampling frequency. We propose an
Interpolating Band-Excluded Orthogonal Matching Pursuit algorithm that uses one
of two interpolation functions to estimate the time delay parameter. The
numerical results show that interpolation improves estimation precision and
that compressive sensing provides an elegant tradeoff that may lower the
required sampling frequency while still attaining a desired estimation
performance.Comment: 5 pages, 2 figures, technical report supporting 1 page submission for
GlobalSIP 201
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