33,527 research outputs found
FastDepth: Fast Monocular Depth Estimation on Embedded Systems
Depth sensing is a critical function for robotic tasks such as localization,
mapping and obstacle detection. There has been a significant and growing
interest in depth estimation from a single RGB image, due to the relatively low
cost and size of monocular cameras. However, state-of-the-art single-view depth
estimation algorithms are based on fairly complex deep neural networks that are
too slow for real-time inference on an embedded platform, for instance, mounted
on a micro aerial vehicle. In this paper, we address the problem of fast depth
estimation on embedded systems. We propose an efficient and lightweight
encoder-decoder network architecture and apply network pruning to further
reduce computational complexity and latency. In particular, we focus on the
design of a low-latency decoder. Our methodology demonstrates that it is
possible to achieve similar accuracy as prior work on depth estimation, but at
inference speeds that are an order of magnitude faster. Our proposed network,
FastDepth, runs at 178 fps on an NVIDIA Jetson TX2 GPU and at 27 fps when using
only the TX2 CPU, with active power consumption under 10 W. FastDepth achieves
close to state-of-the-art accuracy on the NYU Depth v2 dataset. To the best of
the authors' knowledge, this paper demonstrates real-time monocular depth
estimation using a deep neural network with the lowest latency and highest
throughput on an embedded platform that can be carried by a micro aerial
vehicle.Comment: Accepted for presentation at ICRA 2019. 8 pages, 6 figures, 7 table
vDNN: Virtualized Deep Neural Networks for Scalable, Memory-Efficient Neural Network Design
The most widely used machine learning frameworks require users to carefully
tune their memory usage so that the deep neural network (DNN) fits into the
DRAM capacity of a GPU. This restriction hampers a researcher's flexibility to
study different machine learning algorithms, forcing them to either use a less
desirable network architecture or parallelize the processing across multiple
GPUs. We propose a runtime memory manager that virtualizes the memory usage of
DNNs such that both GPU and CPU memory can simultaneously be utilized for
training larger DNNs. Our virtualized DNN (vDNN) reduces the average GPU memory
usage of AlexNet by up to 89%, OverFeat by 91%, and GoogLeNet by 95%, a
significant reduction in memory requirements of DNNs. Similar experiments on
VGG-16, one of the deepest and memory hungry DNNs to date, demonstrate the
memory-efficiency of our proposal. vDNN enables VGG-16 with batch size 256
(requiring 28 GB of memory) to be trained on a single NVIDIA Titan X GPU card
containing 12 GB of memory, with 18% performance loss compared to a
hypothetical, oracular GPU with enough memory to hold the entire DNN.Comment: Published as a conference paper at the 49th IEEE/ACM International
Symposium on Microarchitecture (MICRO-49), 201
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