43,092 research outputs found

    Scalable and Sustainable Deep Learning via Randomized Hashing

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    Current deep learning architectures are growing larger in order to learn from complex datasets. These architectures require giant matrix multiplication operations to train millions of parameters. Conversely, there is another growing trend to bring deep learning to low-power, embedded devices. The matrix operations, associated with both training and testing of deep networks, are very expensive from a computational and energy standpoint. We present a novel hashing based technique to drastically reduce the amount of computation needed to train and test deep networks. Our approach combines recent ideas from adaptive dropouts and randomized hashing for maximum inner product search to select the nodes with the highest activation efficiently. Our new algorithm for deep learning reduces the overall computational cost of forward and back-propagation by operating on significantly fewer (sparse) nodes. As a consequence, our algorithm uses only 5% of the total multiplications, while keeping on average within 1% of the accuracy of the original model. A unique property of the proposed hashing based back-propagation is that the updates are always sparse. Due to the sparse gradient updates, our algorithm is ideally suited for asynchronous and parallel training leading to near linear speedup with increasing number of cores. We demonstrate the scalability and sustainability (energy efficiency) of our proposed algorithm via rigorous experimental evaluations on several real datasets

    An adaptive appearance-based map for long-term topological localization of mobile robots

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    This work considers a mobile service robot which uses an appearance-based representation of its workplace as a map, where the current view and the map are used to estimate the current position in the environment. Due to the nature of real-world environments such as houses and offices, where the appearance keeps changing, the internal representation may become out of date after some time. To solve this problem the robot needs to be able to adapt its internal representation continually to the changes in the environment. This paper presents a method for creating an adaptive map for long-term appearance-based localization of a mobile robot using long-term and short-term memory concepts, with omni-directional vision as the external sensor

    Gravitational Clustering: A Simple, Robust and Adaptive Approach for Distributed Networks

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    Distributed signal processing for wireless sensor networks enables that different devices cooperate to solve different signal processing tasks. A crucial first step is to answer the question: who observes what? Recently, several distributed algorithms have been proposed, which frame the signal/object labelling problem in terms of cluster analysis after extracting source-specific features, however, the number of clusters is assumed to be known. We propose a new method called Gravitational Clustering (GC) to adaptively estimate the time-varying number of clusters based on a set of feature vectors. The key idea is to exploit the physical principle of gravitational force between mass units: streaming-in feature vectors are considered as mass units of fixed position in the feature space, around which mobile mass units are injected at each time instant. The cluster enumeration exploits the fact that the highest attraction on the mobile mass units is exerted by regions with a high density of feature vectors, i.e., gravitational clusters. By sharing estimates among neighboring nodes via a diffusion-adaptation scheme, cooperative and distributed cluster enumeration is achieved. Numerical experiments concerning robustness against outliers, convergence and computational complexity are conducted. The application in a distributed cooperative multi-view camera network illustrates the applicability to real-world problems.Comment: 12 pages, 9 figure

    Long-term experiments with an adaptive spherical view representation for navigation in changing environments

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    Real-world environments such as houses and offices change over time, meaning that a mobile robot’s map will become out of date. In this work, we introduce a method to update the reference views in a hybrid metric-topological map so that a mobile robot can continue to localize itself in a changing environment. The updating mechanism, based on the multi-store model of human memory, incorporates a spherical metric representation of the observed visual features for each node in the map, which enables the robot to estimate its heading and navigate using multi-view geometry, as well as representing the local 3D geometry of the environment. A series of experiments demonstrate the persistence performance of the proposed system in real changing environments, including analysis of the long-term stability

    Selecting source image sensor nodes based on 2-hop information to improve image transmissions to mobile robot sinks in search \& rescue operations

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    We consider Robot-assisted Search &\& Rescue operations enhanced with some fixed image sensor nodes capable of capturing and sending visual information to a robot sink. In order to increase the performance of image transfer from image sensor nodes to the robot sinks we propose a 2-hop neighborhood information-based cover set selection to determine the most relevant image sensor nodes to activate. Then, in order to be consistent with our proposed approach, a multi-path extension of Greedy Perimeter Stateless Routing (called T-GPSR) wherein routing decisions are also based on 2-hop neighborhood information is proposed. Simulation results show that our proposal reduces packet losses, enabling fast packet delivery and higher visual quality of received images at the robot sink

    Mesh-based video coding for low bit-rate communications

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    In this paper, a new method for low bit-rate content-adaptive mesh-based video coding is proposed. Intra-frame coding of this method employs feature map extraction for node distribution at specific threshold levels to achieve higher density placement of initial nodes for regions that contain high frequency features and conversely sparse placement of initial nodes for smooth regions. Insignificant nodes are largely removed using a subsequent node elimination scheme. The Hilbert scan is then applied before quantization and entropy coding to reduce amount of transmitted information. For moving images, both node position and color parameters of only a subset of nodes may change from frame to frame. It is sufficient to transmit only these changed parameters. The proposed method is well-suited for video coding at very low bit rates, as processing results demonstrate that it provides good subjective and objective image quality at a lower number of required bits

    SimpleTrack:Adaptive Trajectory Compression with Deterministic Projection Matrix for Mobile Sensor Networks

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    Some mobile sensor network applications require the sensor nodes to transfer their trajectories to a data sink. This paper proposes an adaptive trajectory (lossy) compression algorithm based on compressive sensing. The algorithm has two innovative elements. First, we propose a method to compute a deterministic projection matrix from a learnt dictionary. Second, we propose a method for the mobile nodes to adaptively predict the number of projections needed based on the speed of the mobile nodes. Extensive evaluation of the proposed algorithm using 6 datasets shows that our proposed algorithm can achieve sub-metre accuracy. In addition, our method of computing projection matrices outperforms two existing methods. Finally, comparison of our algorithm against a state-of-the-art trajectory compression algorithm show that our algorithm can reduce the error by 10-60 cm for the same compression ratio
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