PI-BA Bundle Adjustment Acceleration on Embedded FPGAs with Co-observation Optimization

Bundle adjustment (BA) is a fundamental optimization technique used in many crucial applications, including 3D scene reconstruction, robotic localization, camera calibration, autonomous driving, space exploration, street view map generation etc. Essentially, BA is a joint non-linear optimization problem, and one which can consume a significant amount of time and power, especially for large optimization problems. Previous approaches of optimizing BA performance heavily rely on parallel processing or distributed computing, which trade higher power consumption for higher performance. In this paper we propose {\pi}-BA, the first hardware-software co-designed BA engine on an embedded FPGA-SoC that exploits custom hardware for higher performance and power efficiency. Specifically, based on our key observation that not all points appear on all images in a BA problem, we designed and implemented a Co-Observation Optimization technique to accelerate BA operations with optimized usage of memory and computation resources. Experimental results confirm that {\pi}-BA outperforms the existing software implementations in terms of performance and power consumption.Comment: in Proceedings of IEEE FCCM 201

Random Forests for Big Data

Big Data is one of the major challenges of statistical science and has numerous consequences from algorithmic and theoretical viewpoints. Big Data always involve massive data but they also often include online data and data heterogeneity. Recently some statistical methods have been adapted to process Big Data, like linear regression models, clustering methods and bootstrapping schemes. Based on decision trees combined with aggregation and bootstrap ideas, random forests were introduced by Breiman in 2001. They are a powerful nonparametric statistical method allowing to consider in a single and versatile framework regression problems, as well as two-class and multi-class classification problems. Focusing on classification problems, this paper proposes a selective review of available proposals that deal with scaling random forests to Big Data problems. These proposals rely on parallel environments or on online adaptations of random forests. We also describe how related quantities -- such as out-of-bag error and variable importance -- are addressed in these methods. Then, we formulate various remarks for random forests in the Big Data context. Finally, we experiment five variants on two massive datasets (15 and 120 millions of observations), a simulated one as well as real world data. One variant relies on subsampling while three others are related to parallel implementations of random forests and involve either various adaptations of bootstrap to Big Data or to "divide-and-conquer" approaches. The fifth variant relates on online learning of random forests. These numerical experiments lead to highlight the relative performance of the different variants, as well as some of their limitations

Hierarchical Dynamic Loop Self-Scheduling on Distributed-Memory Systems Using an MPI+MPI Approach

Computationally-intensive loops are the primary source of parallelism in scientific applications. Such loops are often irregular and a balanced execution of their loop iterations is critical for achieving high performance. However, several factors may lead to an imbalanced load execution, such as problem characteristics, algorithmic, and systemic variations. Dynamic loop self-scheduling (DLS) techniques are devised to mitigate these factors, and consequently, improve application performance. On distributed-memory systems, DLS techniques can be implemented using a hierarchical master-worker execution model and are, therefore, called hierarchical DLS techniques. These techniques self-schedule loop iterations at two levels of hardware parallelism: across and within compute nodes. Hybrid programming approaches that combine the message passing interface (MPI) with open multi-processing (OpenMP) dominate the implementation of hierarchical DLS techniques. The MPI-3 standard includes the feature of sharing memory regions among MPI processes. This feature introduced the MPI+MPI approach that simplifies the implementation of parallel scientific applications. The present work designs and implements hierarchical DLS techniques by exploiting the MPI+MPI approach. Four well-known DLS techniques are considered in the evaluation proposed herein. The results indicate certain performance advantages of the proposed approach compared to the hybrid MPI+OpenMP approach