1,055 research outputs found
Coupled Depth Learning
In this paper we propose a method for estimating depth from a single image
using a coarse to fine approach. We argue that modeling the fine depth details
is easier after a coarse depth map has been computed. We express a global
(coarse) depth map of an image as a linear combination of a depth basis learned
from training examples. The depth basis captures spatial and statistical
regularities and reduces the problem of global depth estimation to the task of
predicting the input-specific coefficients in the linear combination. This is
formulated as a regression problem from a holistic representation of the image.
Crucially, the depth basis and the regression function are {\bf coupled} and
jointly optimized by our learning scheme. We demonstrate that this results in a
significant improvement in accuracy compared to direct regression of depth
pixel values or approaches learning the depth basis disjointly from the
regression function. The global depth estimate is then used as a guidance by a
local refinement method that introduces depth details that were not captured at
the global level. Experiments on the NYUv2 and KITTI datasets show that our
method outperforms the existing state-of-the-art at a considerably lower
computational cost for both training and testing.Comment: 10 pages, 3 Figures, 4 Tables with quantitative evaluation
FPSA: A Full System Stack Solution for Reconfigurable ReRAM-based NN Accelerator Architecture
Neural Network (NN) accelerators with emerging ReRAM (resistive random access
memory) technologies have been investigated as one of the promising solutions
to address the \textit{memory wall} challenge, due to the unique capability of
\textit{processing-in-memory} within ReRAM-crossbar-based processing elements
(PEs). However, the high efficiency and high density advantages of ReRAM have
not been fully utilized due to the huge communication demands among PEs and the
overhead of peripheral circuits.
In this paper, we propose a full system stack solution, composed of a
reconfigurable architecture design, Field Programmable Synapse Array (FPSA) and
its software system including neural synthesizer, temporal-to-spatial mapper,
and placement & routing. We highly leverage the software system to make the
hardware design compact and efficient. To satisfy the high-performance
communication demand, we optimize it with a reconfigurable routing architecture
and the placement & routing tool. To improve the computational density, we
greatly simplify the PE circuit with the spiking schema and then adopt neural
synthesizer to enable the high density computation-resources to support
different kinds of NN operations. In addition, we provide spiking memory blocks
(SMBs) and configurable logic blocks (CLBs) in hardware and leverage the
temporal-to-spatial mapper to utilize them to balance the storage and
computation requirements of NN. Owing to the end-to-end software system, we can
efficiently deploy existing deep neural networks to FPSA. Evaluations show
that, compared to one of state-of-the-art ReRAM-based NN accelerators, PRIME,
the computational density of FPSA improves by 31x; for representative NNs, its
inference performance can achieve up to 1000x speedup.Comment: Accepted by ASPLOS 201
Real-Time Salient Closed Boundary Tracking via Line Segments Perceptual Grouping
This paper presents a novel real-time method for tracking salient closed
boundaries from video image sequences. This method operates on a set of
straight line segments that are produced by line detection. The tracking scheme
is coherently integrated into a perceptual grouping framework in which the
visual tracking problem is tackled by identifying a subset of these line
segments and connecting them sequentially to form a closed boundary with the
largest saliency and a certain similarity to the previous one. Specifically, we
define a new tracking criterion which combines a grouping cost and an area
similarity constraint. The proposed criterion makes the resulting boundary
tracking more robust to local minima. To achieve real-time tracking
performance, we use Delaunay Triangulation to build a graph model with the
detected line segments and then reduce the tracking problem to finding the
optimal cycle in this graph. This is solved by our newly proposed closed
boundary candidates searching algorithm called "Bidirectional Shortest Path
(BDSP)". The efficiency and robustness of the proposed method are tested on
real video sequences as well as during a robot arm pouring experiment.Comment: 7 pages, 8 figures, The 2017 IEEE/RSJ International Conference on
Intelligent Robots and Systems (IROS 2017) submission ID 103
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