A parallel implementation of a multisensor feature-based range-estimation method

There are many proposed vision based methods to perform obstacle detection and avoidance for autonomous or semi-autonomous vehicles. All methods, however, will require very high processing rates to achieve real time performance. A system capable of supporting autonomous helicopter navigation will need to extract obstacle information from imagery at rates varying from ten frames per second to thirty or more frames per second depending on the vehicle speed. Such a system will need to sustain billions of operations per second. To reach such high processing rates using current technology, a parallel implementation of the obstacle detection/ranging method is required. This paper describes an efficient and flexible parallel implementation of a multisensor feature-based range-estimation algorithm, targeted for helicopter flight, realized on both a distributed-memory and shared-memory parallel computer

Lorentzian Iterative Hard Thresholding: Robust Compressed Sensing with Prior Information

Commonly employed reconstruction algorithms in compressed sensing (CS) use the $L_2$ norm as the metric for the residual error. However, it is well-known that least squares (LS) based estimators are highly sensitive to outliers present in the measurement vector leading to a poor performance when the noise no longer follows the Gaussian assumption but, instead, is better characterized by heavier-than-Gaussian tailed distributions. In this paper, we propose a robust iterative hard Thresholding (IHT) algorithm for reconstructing sparse signals in the presence of impulsive noise. To address this problem, we use a Lorentzian cost function instead of the $L_2$ cost function employed by the traditional IHT algorithm. We also modify the algorithm to incorporate prior signal information in the recovery process. Specifically, we study the case of CS with partially known support. The proposed algorithm is a fast method with computational load comparable to the LS based IHT, whilst having the advantage of robustness against heavy-tailed impulsive noise. Sufficient conditions for stability are studied and a reconstruction error bound is derived. We also derive sufficient conditions for stable sparse signal recovery with partially known support. Theoretical analysis shows that including prior support information relaxes the conditions for successful reconstruction. Simulation results demonstrate that the Lorentzian-based IHT algorithm significantly outperform commonly employed sparse reconstruction techniques in impulsive environments, while providing comparable performance in less demanding, light-tailed environments. Numerical results also demonstrate that the partially known support inclusion improves the performance of the proposed algorithm, thereby requiring fewer samples to yield an approximate reconstruction.Comment: 28 pages, 9 figures, accepted in IEEE Transactions on Signal Processin

Frequency-splitting Dynamic MRI Reconstruction using Multi-scale 3D Convolutional Sparse Coding and Automatic Parameter Selection

Department of Computer Science and EngineeringIn this thesis, we propose a novel image reconstruction algorithm using multi-scale 3D con- volutional sparse coding and a spectral decomposition technique for highly undersampled dy- namic Magnetic Resonance Imaging (MRI) data. The proposed method recovers high-frequency information using a shared 3D convolution-based dictionary built progressively during the re- construction process in an unsupervised manner, while low-frequency information is recovered using a total variation-based energy minimization method that leverages temporal coherence in dynamic MRI. Additionally, the proposed 3D dictionary is built across three different scales to more efficiently adapt to various feature sizes, and elastic net regularization is employed to promote a better approximation to the sparse input data. Furthermore, the computational com- plexity of each component in our iterative method is analyzed. We also propose an automatic parameter selection technique based on a genetic algorithm to find optimal parameters for our numerical solver which is a variant of the alternating direction method of multipliers (ADMM). We demonstrate the performance of our method by comparing it with state-of-the-art methods on 15 single-coil cardiac, 7 single-coil DCE, and a multi-coil brain MRI datasets at different sampling rates (12.5%, 25% and 50%). The results show that our method significantly outper- forms the other state-of-the-art methods in reconstruction quality with a comparable running time and is resilient to noise.ope

Toward Optimal Run Racing: Application to Deep Learning Calibration

This paper aims at one-shot learning of deep neural nets, where a highly parallel setting is considered to address the algorithm calibration problem - selecting the best neural architecture and learning hyper-parameter values depending on the dataset at hand. The notoriously expensive calibration problem is optimally reduced by detecting and early stopping non-optimal runs. The theoretical contribution regards the optimality guarantees within the multiple hypothesis testing framework. Experimentations on the Cifar10, PTB and Wiki benchmarks demonstrate the relevance of the approach with a principled and consistent improvement on the state of the art with no extra hyper-parameter