scholarly journals Fast CNN Stereo Depth Estimation through Embedded GPU Devices

Sensors ◽  
2020 ◽  
Vol 20 (11) ◽  
pp. 3249
Author(s):  
Cristhian A. Aguilera ◽  
Cristhian Aguilera ◽  
Cristóbal A. Navarro ◽  
Angel D. Sappa

Current CNN-based stereo depth estimation models can barely run under real-time constraints on embedded graphic processing unit (GPU) devices. Moreover, state-of-the-art evaluations usually do not consider model optimization techniques, being that it is unknown what is the current potential on embedded GPU devices. In this work, we evaluate two state-of-the-art models on three different embedded GPU devices, with and without optimization methods, presenting performance results that illustrate the actual capabilities of embedded GPU devices for stereo depth estimation. More importantly, based on our evaluation, we propose the use of a U-Net like architecture for postprocessing the cost-volume, instead of a typical sequence of 3D convolutions, drastically augmenting the runtime speed of current models. In our experiments, we achieve real-time inference speed, in the range of 5–32 ms, for 1216 × 368 input stereo images on the Jetson TX2, Jetson Xavier, and Jetson Nano embedded devices.

Author(s):  
Chen Liu ◽  
Bo Li ◽  
Jun Zhao ◽  
Ming Su ◽  
Xu-Dong Liu

Detecting the newly emerging malware variants in real time is crucial for mitigating cyber risks and proactively blocking intrusions. In this paper, we propose MG-DVD, a novel detection framework based on dynamic heterogeneous graph learning, to detect malware variants in real time. Particularly, MG-DVD first models the fine-grained execution event streams of malware variants into dynamic heterogeneous graphs and investigates real-world meta-graphs between malware objects, which can effectively characterize more discriminative malicious evolutionary patterns between malware and their variants. Then, MG-DVD presents two dynamic walk-based heterogeneous graph learning methods to learn more comprehensive representations of malware variants, which significantly reduces the cost of the entire graph retraining. As a result, MG-DVD is equipped with the ability to detect malware variants in real time, and it presents better interpretability by introducing meaningful meta-graphs. Comprehensive experiments on large-scale samples prove that our proposed MG-DVD outperforms state-of-the-art methods in detecting malware variants in terms of effectiveness and efficiency.


Author(s):  
Sushruta Mishra ◽  
Brojo Kishore Mishra ◽  
Hrudaya Kumar Tripathy

The techniques inspired from the nature based evolution and aggregated nature of social colonies have been promising and shown excellence in handling complicated optimization problems thereby gaining huge popularity recently. These methodologies can be used as an effective problem solving tool thereby acting as an optimizing agent. Such techniques are called Bio inspired computing. Our study surveys the recent advances in biologically inspired swarm optimization methods and Evolutionary methods, which may be applied in various fields. Four real time scenarios are demonstrated in the form of case studies to show the significance of bio inspired algorithms. The techniques that are illustrated here include Differential Evolution, Genetic Search, Particle Swarm optimization and artificial bee Colony optimization. The results inferred by implanting these techniques are highly encouraging.


2021 ◽  
Vol 2094 (3) ◽  
pp. 032058
Author(s):  
S N Efimov ◽  
V A Terskov ◽  
I Yu Sakash ◽  
V V Molokov ◽  
D L Nikiforov

Abstract The article presents the formulation of the problem of optimizing the structure of multiprocessor computing systems designed to solve control problems in real time. The features of this problem, which influence the choice of optimization methods, have been studied. It is concluded that this problem can be effectively solved using evolutionary methods of optimization. The considered models for finding performance can be used to optimize the architecture of multiprocessor computing systems. Besides, it should be taken into account that the resources allocated for the development and operation of computing systems are always limited. Therefore, it is advisable to consider the problem of optimizing the structure of a computing system as multi-criterial one: one criterion is the performance, and the other one is the cost of development and operation of the system. Acquired results can be used in development of multiprocessor computing systems for real-time systems, which is going to reduce the cost of development and operation of these control systems.


2020 ◽  
pp. 224-248
Author(s):  
Sushruta Mishra ◽  
Brojo Kishore Mishra ◽  
Hrudaya Kumar Tripathy

The techniques inspired from the nature based evolution and aggregated nature of social colonies have been promising and shown excellence in handling complicated optimization problems thereby gaining huge popularity recently. These methodologies can be used as an effective problem solving tool thereby acting as an optimizing agent. Such techniques are called Bio inspired computing. Our study surveys the recent advances in biologically inspired swarm optimization methods and Evolutionary methods, which may be applied in various fields. Four real time scenarios are demonstrated in the form of case studies to show the significance of bio inspired algorithms. The techniques that are illustrated here include Differential Evolution, Genetic Search, Particle Swarm optimization and artificial bee Colony optimization. The results inferred by implanting these techniques are highly encouraging.


2020 ◽  
Vol 34 (07) ◽  
pp. 10526-10533 ◽  
Author(s):  
Hanlin Chen ◽  
Li'an Zhuo ◽  
Baochang Zhang ◽  
Xiawu Zheng ◽  
Jianzhuang Liu ◽  
...  

Neural architecture search (NAS) can have a significant impact in computer vision by automatically designing optimal neural network architectures for various tasks. A variant, binarized neural architecture search (BNAS), with a search space of binarized convolutions, can produce extremely compressed models. Unfortunately, this area remains largely unexplored. BNAS is more challenging than NAS due to the learning inefficiency caused by optimization requirements and the huge architecture space. To address these issues, we introduce channel sampling and operation space reduction into a differentiable NAS to significantly reduce the cost of searching. This is accomplished through a performance-based strategy used to abandon less potential operations. Two optimization methods for binarized neural networks are used to validate the effectiveness of our BNAS. Extensive experiments demonstrate that the proposed BNAS achieves a performance comparable to NAS on both CIFAR and ImageNet databases. An accuracy of 96.53% vs. 97.22% is achieved on the CIFAR-10 dataset, but with a significantly compressed model, and a 40% faster search than the state-of-the-art PC-DARTS.


2020 ◽  
Author(s):  
David Oro ◽  
Carles Fernández ◽  
Xavier Martorell ◽  
Javier Hernando

Abstract In the context of object detection, sliding-window classifiers and single-shot convolutional neural network (CNN) meta-architectures typically yield multiple overlapping candidate windows with similar high scores around the true location of a particular object. Non-maximum suppression (NMS) is the process of selecting a single representative candidate within this cluster of detections, so as to obtain a unique detection per object appearing on a given picture. In this paper, we present a highly scalable NMS algorithm for embedded graphics processing unit (GPU) architectures that is designed from scratch to handle workloads featuring thousands of simultaneous detections on a given picture. Our kernels are directly applicable to other sequential NMS algorithms such as FeatureNMS, Soft-NMS or AdaptiveNMS that share the inner workings of the classic greedy NMS method. The obtained performance results show that our parallel NMS algorithm is capable of clustering 1024 simultaneous detected objects per frame in roughly 1 ms on both Tegra X1 and Tegra X2 on-die GPUs, while taking 2 ms on Tegra K1. Furthermore, our proposed parallel greedy NMS algorithm yields a 14–40x speed up when compared to state-of-the-art NMS methods that require learning a CNN from annotated data.


2020 ◽  
Vol 86 (7) ◽  
pp. 443-456
Author(s):  
Changkun Yang ◽  
Zhaoqin Liu ◽  
Kaichang Di ◽  
Changqing Hu ◽  
Yexin Wang ◽  
...  

With the development of light-field imaging technology, depth estimation using light-field cameras has become a hot topic in recent years. Even through many algorithms have achieved good performance for depth estimation using light-field cameras, removing the influence of occlusion, especially multi-occlusion, is still a challenging task. The photo-consistency assumption does not hold in the presence of occlusions, which makes most depth estimation of light-field imaging unreliable. In this article, a novel method to handle complex occlusion in depth estimation of light-field imaging is proposed. The method can effectively identify occluded pixels using a refocusing algorithm, accurately select unoccluded views using the adaptive unoccluded-view identification algorithm, and then improve the depth estimation by computing the cost volumes in the unoccluded views. Experimental results demonstrate the advantages of our proposed algorithm compared with conventional state-of-the art algorithms on both synthetic and real light-field data sets.


1997 ◽  
Vol 119 (2) ◽  
pp. 265-272
Author(s):  
K. E. Shahroudi

The majority of optimization methods lose their applicability when solving highly dimensional functions. The required calculation effort usually becomes enormous as dimensions increase, regardless of the elegance of the method. Most methods concern themselves with finding a single optimum that satisfies the required accuracy, but that provides no quantitative measure (i.e., probability of correctness) indicating whether the true optimum is found. Furthermore, there is usually no exact measure of the calculation effort prior to starting the procedure. There is always an unavoidable coupling (i.e., relation) between the accuracy, probability, and calculation effort of an optimization method, but the exact form of this relation is dependent on the procedures followed to reach optimum. Ideally, an optimization method should facilitate the statement of required accuracy, required probability, and the required calculation effort separately and the method should take care of the rest (i.e., total decoupling of the three requirements). Although this ideal case is generally not possible, it is possible to move toward it by finding procedures that reduce the strength of this unwanted coupling. This report derives simple analytical relations between the required accuracy, probability, and calculation effort of a general multidimensional adaptive grid non-gradient guided (NGG) search method where the search points are generated either decisively or randomly. It is then shown that any adaptive method based on reducing the total solution space is heavily penalized. Further, it is analytically illustrated that if the adaptive grid is randomly generated, it is far less successful than the non-random adaptive grid, because the amount of grid adaptation is less decisive at every step, due to the randomness. As with many optimization techniques, the dimensionality problem limits the application of this method to cases where the function evaluation is real time (~milliseconds) and dimensions are lower than say 25, which occurs in conceptual/preliminary design systems such as CAGED (Shahroudi, 1994b). This method is also particularly useful for problems in which the number of optima is known in advance. In this case the required probability can be set to its minimum value, which is required in order to distinguish an absolute optimum from a known (or likely) number of optima. The coupling relations derived in this report will then provide the minimum calculation effort necessary to satisfy accuracy and probability requirements.


Author(s):  
Kamran Eftekhari Shahroudi

The majority of optimization methods lose their applicability when solving Highly Dimensional Functions. The required calculation effort usually becomes enormous as dimensions increase, regardless of the elegance of the method. Most methods concern themselves with finding a single optimum which satisfies the required Accuracy, but which provide no quantitative measure (i.e. Probability of correctness) indicating whether the true optimum is found). Furthermore, there is usually no exact measure of the Calculation Effonprior to starting the procedure. There is always an unavoidable coupling (i.e. relation) between the Accuracy, Probability and Calculation Effort of an optimization method but the exact form of this relation is dependant on the procedures followed to reach optimum. Ideally, an optimization method should facilitate the statement of required accuracy, required probability and the required calculation effort separately and the method should take care of the rest (i.e. total decoupling of the three requirements). Although this ideal case is generally not possible, it is possible to move towards it by finding procedures that reduce the strength of this unwanted coupling. This report derives simple analytical relations between the required accuracy, probability and calculation effort of a general multidimensional adaptive grid Non-Gradient Guided (NGG) search method where the search points are generated either decisively or randomly. It is then shown that any adaptive method based on reducing the total solution space is heavily penalized. Further, it is analytically illustrated that if the adaptive grid is randomly generated, it is far less successful than the non random adaptive grid, because the amount of grid adaptation is less decisive at every step., due to the randomness. As with many optimization techniques, the Dimensionality Problem limits the application of this method to cases where the function evaluation is real time (∼ milliseconds) and dimensions are lower than say 25, which occurs in Conceptual/Preliminary Design systems such as CAGEDR [Shahroudi, K.E. (Ref. 4)].


2014 ◽  
Vol 53 (04) ◽  
pp. 324-328 ◽  
Author(s):  
E. Zacur ◽  
E. Pueyo ◽  
P. Laguna ◽  
A. Minchole

SummaryIntroduction: This article is part of the Focus Theme of Methods of Information in Medicine on “Biosignal Interpretation: Advanced Methods for Studying Cardiovascular and Respiratory Systems”.Objectives: This work aims at providing an efficient method to estimate the parameters of a non linear model including memory, previously proposed to characterize rate adaptation of repolarization indices.Methods: The physiological restrictions on the model parameters have been included in the cost function in such a way that unconstrained optimization techniques such as descent optimization methods can be used for parameter estimation. The proposed method has been evaluated on electrocardiogram (ECG) recordings of healthy subjects performing a tilt test, where rate adaptation of QT and Tpeak-to-Tend (Tpe) intervals has been characterized.Results: The proposed strategy results in an efficient methodology to characterize rate adaptation of repolarization features, improving the convergence time with respect to previous strategies. Moreover, Tpe interval adapts faster to changes in heart rate than the QT interval.Conclusions: In this work an efficient estimation of the parameters of a model aimed at characterizing rate adaptation of repolarization features has been proposed. The Tpe interval has been shown to be rate related and with a shorter memory lag than the QT interval.


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