Implementing the conjugate gradient algorithm on multi-core systems

In linear solvers, like the conjugate gradient algorithm, sparse-matrix vector multiplication is an important kernel. Due to the sparseness of the matrices, the solver runs relatively slow. For digital optical tomography (DOT), a large set of linear equations have to be solved which currently takes in the order of hours on desktop computers. Our goal was to speed up the conjugate gradient solver. In this paper we present the results of applying multiple optimization techniques and exploiting multi-core solutions offered by two recently introduced architectures: Intel’s Woodcrest\ud general purpose processor and NVIDIA’s G80 graphical processing unit. Using these techniques for these architectures, a speedup of a factor three\ud has been achieved

Multi-Step Knowledge-Aided Iterative ESPRIT for Direction Finding

In this work, we propose a subspace-based algorithm for DOA estimation which iteratively reduces the disturbance factors of the estimated data covariance matrix and incorporates prior knowledge which is gradually obtained on line. An analysis of the MSE of the reshaped data covariance matrix is carried out along with comparisons between computational complexities of the proposed and existing algorithms. Simulations focusing on closely-spaced sources, where they are uncorrelated and correlated, illustrate the improvements achieved.Comment: 7 figures. arXiv admin note: text overlap with arXiv:1703.1052

High-Performance and Tunable Stereo Reconstruction

Traditional stereo algorithms have focused their efforts on reconstruction quality and have largely avoided prioritizing for run time performance. Robots, on the other hand, require quick maneuverability and effective computation to observe its immediate environment and perform tasks within it. In this work, we propose a high-performance and tunable stereo disparity estimation method, with a peak frame-rate of 120Hz (VGA resolution, on a single CPU-thread), that can potentially enable robots to quickly reconstruct their immediate surroundings and maneuver at high-speeds. Our key contribution is a disparity estimation algorithm that iteratively approximates the scene depth via a piece-wise planar mesh from stereo imagery, with a fast depth validation step for semi-dense reconstruction. The mesh is initially seeded with sparsely matched keypoints, and is recursively tessellated and refined as needed (via a resampling stage), to provide the desired stereo disparity accuracy. The inherent simplicity and speed of our approach, with the ability to tune it to a desired reconstruction quality and runtime performance makes it a compelling solution for applications in high-speed vehicles.Comment: Accepted to International Conference on Robotics and Automation (ICRA) 2016; 8 pages, 5 figure