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

Temporal and spatial combining for 5G mmWave small cells

This chapter proposes the combination of temporal processing through Rake combining based on direct sequence-spread spectrum (DS-SS), and multiple antenna beamforming or antenna spatial diversity as a possible physical layer access technique for fifth generation (5G) small cell base stations (SBS) operating in the millimetre wave (mmWave) frequencies. Unlike earlier works in the literature aimed at previous generation wireless, the use of the beamforming is presented as operating in the radio frequency (RF) domain, rather than the baseband domain, to minimise power expenditure as a more suitable method for 5G small cells. Some potential limitations associated with massive multiple input-multiple output (MIMO) for small cells are discussed relating to the likely limitation on available antennas and resultant beamwidth. Rather than relying, solely, on expensive and potentially power hungry massive MIMO (which in the case of a SBS for indoor use will be limited by a physically small form factor) the use of a limited number of antennas, complimented with Rake combining, or antenna diversity is given consideration for short distance indoor communications for both the SBS) and user equipment (UE). The proposal’s aim is twofold: to solve eroded path loss due to the effective antenna aperture reduction and to satisfy sensitivity to blockages and multipath dispersion in indoor, small coverage area base stations. Two candidate architectures are proposed. With higher data rates, more rigorous analysis of circuit power and its effect on energy efficiency (EE) is provided. A detailed investigation is provided into the likely design and signal processing requirements. Finally, the proposed architectures are compared to current fourth generation long term evolution (LTE) MIMO technologies for their anticipated power consumption and EE

A Network Coding Approach to Loss Tomography

Network tomography aims at inferring internal network characteristics based on measurements at the edge of the network. In loss tomography, in particular, the characteristic of interest is the loss rate of individual links and multicast and/or unicast end-to-end probes are typically used. Independently, recent advances in network coding have shown that there are advantages from allowing intermediate nodes to process and combine, in addition to just forward, packets. In this paper, we study the problem of loss tomography in networks with network coding capabilities. We design a framework for estimating link loss rates, which leverages network coding capabilities, and we show that it improves several aspects of tomography including the identifiability of links, the trade-off between estimation accuracy and bandwidth efficiency, and the complexity of probe path selection. We discuss the cases of inferring link loss rates in a tree topology and in a general topology. In the latter case, the benefits of our approach are even more pronounced compared to standard techniques, but we also face novel challenges, such as dealing with cycles and multiple paths between sources and receivers. Overall, this work makes the connection between active network tomography and network coding

Introduction to Quantum Information Processing

As a result of the capabilities of quantum information, the science of quantum information processing is now a prospering, interdisciplinary field focused on better understanding the possibilities and limitations of the underlying theory, on developing new applications of quantum information and on physically realizing controllable quantum devices. The purpose of this primer is to provide an elementary introduction to quantum information processing, and then to briefly explain how we hope to exploit the advantages of quantum information. These two sections can be read independently. For reference, we have included a glossary of the main terms of quantum information.Comment: 48 pages, to appear in LA Science. Hyperlinked PDF at http://www.c3.lanl.gov/~knill/qip/prhtml/prpdf.pdf, HTML at http://www.c3.lanl.gov/~knill/qip/prhtm

Efficient Quantum Algorithms for State Measurement and Linear Algebra Applications

We present an algorithm for measurement of $k$-local operators in a quantum state, which scales logarithmically both in the system size and the output accuracy. The key ingredients of the algorithm are a digital representation of the quantum state, and a decomposition of the measurement operator in a basis of operators with known discrete spectra. We then show how this algorithm can be combined with (a) Hamiltonian evolution to make quantum simulations efficient, (b) the Newton-Raphson method based solution of matrix inverse to efficiently solve linear simultaneous equations, and (c) Chebyshev expansion of matrix exponentials to efficiently evaluate thermal expectation values. The general strategy may be useful in solving many other linear algebra problems efficiently.Comment: 17 pages, 3 figures (v2) Sections reorganised, several clarifications added, results unchange

Digital Predistortion in Large-Array Digital Beamforming Transmitters

In this article, we propose a novel digital predistortion (DPD) solution that allows to considerably reduce the complexity resulting from linearizing a set of power amplifiers (PAs) in single-user large-scale digital beamforming transmitters. In contrast to current state-of-the art solutions that assume a dedicated DPD per power amplifier, which is unfeasible in the context of large antenna arrays, the proposed solution only requires a single DPD in order to linearize an arbitrary number of power amplifiers. To this end, the proposed DPD predistorts the signal at the input of the digital precoder based on minimizing the nonlinear distortion of the combined signal at the intended receiver direction. This is a desirable feature, since the resulting emissions in other directions get partially diluted due to less coherent superposition. With this approach, only a single DPD is required, yielding great complexity and energy savings.Comment: 8 pages, Accepted for publication in Asilomar Conference on Signals, Systems, and Computer