10,109 research outputs found
Combining local regularity estimation and total variation optimization for scale-free texture segmentation
Texture segmentation constitutes a standard image processing task, crucial to
many applications. The present contribution focuses on the particular subset of
scale-free textures and its originality resides in the combination of three key
ingredients: First, texture characterization relies on the concept of local
regularity ; Second, estimation of local regularity is based on new multiscale
quantities referred to as wavelet leaders ; Third, segmentation from local
regularity faces a fundamental bias variance trade-off: In nature, local
regularity estimation shows high variability that impairs the detection of
changes, while a posteriori smoothing of regularity estimates precludes from
locating correctly changes. Instead, the present contribution proposes several
variational problem formulations based on total variation and proximal
resolutions that effectively circumvent this trade-off. Estimation and
segmentation performance for the proposed procedures are quantified and
compared on synthetic as well as on real-world textures
Towards Visual Ego-motion Learning in Robots
Many model-based Visual Odometry (VO) algorithms have been proposed in the
past decade, often restricted to the type of camera optics, or the underlying
motion manifold observed. We envision robots to be able to learn and perform
these tasks, in a minimally supervised setting, as they gain more experience.
To this end, we propose a fully trainable solution to visual ego-motion
estimation for varied camera optics. We propose a visual ego-motion learning
architecture that maps observed optical flow vectors to an ego-motion density
estimate via a Mixture Density Network (MDN). By modeling the architecture as a
Conditional Variational Autoencoder (C-VAE), our model is able to provide
introspective reasoning and prediction for ego-motion induced scene-flow.
Additionally, our proposed model is especially amenable to bootstrapped
ego-motion learning in robots where the supervision in ego-motion estimation
for a particular camera sensor can be obtained from standard navigation-based
sensor fusion strategies (GPS/INS and wheel-odometry fusion). Through
experiments, we show the utility of our proposed approach in enabling the
concept of self-supervised learning for visual ego-motion estimation in
autonomous robots.Comment: Conference paper; Submitted to IEEE/RSJ International Conference on
Intelligent Robots and Systems (IROS) 2017, Vancouver CA; 8 pages, 8 figures,
2 table
Machine Learning Based Auto-tuning for Enhanced OpenCL Performance Portability
Heterogeneous computing, which combines devices with different architectures,
is rising in popularity, and promises increased performance combined with
reduced energy consumption. OpenCL has been proposed as a standard for
programing such systems, and offers functional portability. It does, however,
suffer from poor performance portability, code tuned for one device must be
re-tuned to achieve good performance on another device. In this paper, we use
machine learning-based auto-tuning to address this problem. Benchmarks are run
on a random subset of the entire tuning parameter configuration space, and the
results are used to build an artificial neural network based model. The model
can then be used to find interesting parts of the parameter space for further
search. We evaluate our method with different benchmarks, on several devices,
including an Intel i7 3770 CPU, an Nvidia K40 GPU and an AMD Radeon HD 7970
GPU. Our model achieves a mean relative error as low as 6.1%, and is able to
find configurations as little as 1.3% worse than the global minimum.Comment: This is a pre-print version an article to be published in the
Proceedings of the 2015 IEEE International Parallel and Distributed
Processing Symposium Workshops (IPDPSW). For personal use onl
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