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In visual SLAM, there are many software and hardware parameters, such as algorithmic thresholds and GPU frequency, that need to be tuned; however, this tuning should also take into account the structure and motion of the camera. In this paper, we determine the complexity of the structure and motion with a few parameters calculated using information theory. Depending on this complexity and the desired...
In this paper we investigate an emerging application, 3D scene understanding, likely to be significant in the mobile space in the near future. The goal of this exploration is to reduce execution time while meeting our quality of result objectives. In previous work, we showed for the first time that it is possible to map this application to power constrained embedded systems, highlighting that decision...
Full-system simulators are increasingly finding their way into the consumer space for the purposes of backwards compatibility and hardware emulation (e.g. for games consoles). For such compute-intensive applications simulation performance is paramount. In this paper we argue that existing benchmark suites such as SPEC CPU2006, originally designed for architecture and compiler performance evaluation,...
In this paper we propose a novel approach to heterogeneous embedded systems programmability using a task-graph based framework called Diplomat. Diplomat is a task-graph framework that exploits the potential of static dataflow modeling and analysis to deliver performance estimation and CPU/GPU mapping. An application has to be specified once, and then the framework can automatically propose good mappings...
SLAM has matured significantly over the past few years, and is beginning to appear in serious commercial products. While new SLAM systems are being proposed at every conference, evaluation is often restricted to qualitative visualizations or accuracy estimation against a ground truth. This is due to the lack of benchmarking methodologies which can holistically and quantitatively evaluate these systems...
System designers typically use well-studied benchmarks to evaluate and improve new architectures and compilers. We design tomorrow's systems based on yesterday's applications. In this paper we investigate an emerging application, 3D scene understanding, likely to be significant in the mobile space in the near future. Until now, this application could only run in real-time on desktop GPUs. In this...
The Synchronous Dataflow Graph (SDFG) and Cyclo-Static Dataflow Graph (CSDFG) are two well-known models, used practically by industry for many years, and for which there is a large number of analysis techniques. Yet, basic problems such as the throughput computation or the liveness evaluation are not well solved, and their complexity is still unknown. In this paper, we propose K-Iter, an iterative...
Real-time dense computer vision and SLAM offer great potential for a new level of scene modelling, tracking and real environmental interaction for many types of robot, but their high computational requirements mean that use on mass market embedded platforms is challenging. Meanwhile, trends in low-cost, low-power processing are towards massive parallelism and heterogeneity, making it difficult for...
Cyclo-Static Dataflow Graphs (CSDFGs in short) is a static model commonly used to describe communications between processes. It is increasingly considered for modeling applications executed by many-core architectures; their static analysis becomes thus essential for developing efficient compile-time optimization.
Cyclo-Static DataFlow Graphs (CSDFG in short) is a formalism commonly used to model parallel applications composed by actors communicating through buffers. The liveness of a CSDFG ensures that all actors can be executed infinitely often. This property is clearly fundamental for the design of embedded applications. This paper aims to present first an original sufficient condition of liveness for a...
The ever-growing number of cores in embedded chips emphasizes more than ever the complexity inherent to parallel pro- gramming. To solve these programmability issues, there is a renewed interest in the dataflow paradigm. In this context, we present a compilation toolchain for the ΣC language, which allows the hierarchical construction of stream applications and automatic mapping of this application...
Synchronous Dataflow graphs, introduced by Lee and Messerschmitt in 1987, are a well-known formalism commonly used to model data-exchanges between parallel processes. This model was extensively studied in the last two decades because of the importance of its applications. However, the determination of a maximal throughput is a difficult question, for which no polynomial time algorithm exists to date.
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