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IEEE International conference on Robotics and Automation (ICRA)

作者： Florent Valette Franck Ruffier Stéphane Viollet Tobias Seidl Biorobotics Department Institute of Movement Sciences CNRS University of the Mediterranean Marseilles France European Space Agency Noordwijk Netherlands

Autonomous landing on unknown extraterrestrial bodies requires fast, noise-resistant motion processing to elicit appropriate steering commands. Flying insects excellently master visual motion sensing techniques to cope with highly parallel data at a low energy cost, using dedicated motion processing circuits. Results obtained in neurophysiological, behavioural, and biorobotic studies on insect flight control were used to safely land a spacecraft on the Moon in a simulated environment. ESA's Advanced Concepts Team has identified autonomous lunar landing as a relevant situation for testing the potential applications of innovative bio-inspired visual guidance systems to space missions. Biomimetic optic flow-based strategies for controlling automatic landing were tested in a very realistic simulated Moon environment. Visual information was provided using the PANGU software program and used to regulate the optic flow generated during the landing of a two degrees of freedom spacecraft. The results of the simulation showed that a single elementary motion detector coupled to a regulator robustly controlled the autonomous descent and the approach of the simulated moonlander. “Low gate” located approximately 10 m above the ground was reached with acceptable vertical and horizontal speeds of 4 m/s and 5 m/s, respectively. It was also established that optic flow sensing methods can be used successfully to cope with temporary sensor blinding and poor lighting conditions.

关键词： Biomimetics Biomedical optical imaging Optical sensors image motion analysis Moon Insects Space vehicles Circuit noise Optical noise Costs

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Pipelining parallel image compositing and delivery for efficient remote visualization

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JOURNAL OF parallel AND distributed COMPUTING 2009年第3期69卷 230-238页

作者： Wu, Qishi Gao, Jinzhu Chen, Zizhong Zhu, Mengxia Univ Memphis Dept Comp Sci Memphis TN 38152 USA Univ Pacific Dept Comp Sci Stockton CA 95211 USA Colorado Sch Mines Dept Math & Comp Sci Golden CO 80401 USA So Illinois Univ Dept Comp Sci Carbondale IL 62901 USA

Scientific datasets of large volumes generated by next-generation computational sciences need to be transferred and processed for remote visualization and distributed collaboration among a geographically dispersed team of scientists. parallel visualization using high-performance computing facilities is a typical approach to processing such increasingly large datasets. We propose an optimized image compositing scheme with linear pipeline and adaptive transport to support efficient image delivery to a remote client. The proposed scheme arranges an arbitrary number of parallel processors within a cluster in a linear order and divides the image into a carefully selected number of segments, which flow through the linear incluster pipeline and wide-area networks to the remote client consecutively. We analytically determine the segment size that minimizes the final image display time and derive the conditions where the proposed image compositing and delivery scheme outperforms the traditional schemes including the binary swap algorithm. In order to match the transport throughput for image delivery over wide-area networks to the pipelining rate for image compositing within the cluster, we design a class of transport protocols using stochastic approximation methods that are able to stabilize the data flow at a target rate. The experimental results from remote visualization of large-scale scientific datasets justify the correctness of our theoretical analysis and illustrate the superior performances of the proposed method. (C) 2008 Elsevier Inc. All rights reserved.

关键词： image compositing Pipelining Transport control Remote visualization parallel and distributed systems

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Real Time Low Level parallel image processing For Active Vision Systems

Real Time Low Level Parallel Image Processing For Active Vis...

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IEEE International Advance Computing conference

作者： Tanwer, Ashish Singh, Rattandeep Reel, Parminder Singh Thapar Univ Elect & Commun Engn Dept Patiala 147001 Punjab India

ISBN: (纸本)9781424429271

This paper presents an overview of low level parallel image processing algorithms and their implementation for active vision systems. Authors have demonstrated novel low level image processing algorithms for point operators, local operators, dithering, smoothing, edge detection, morphological operators, image segmentation and image compression. The algorithms have been prepared & described as pseudo codes. These algorithms have been simulated Using parallel Computing Toolbox (TM) (PCT) of MATLAB. The PCT provides parallel constructs in the MATLAB language, such as parallel for loops, distributed arrays and message passing & enables rapid prototyping of parallel code through an interactive parallel MATLAB session

关键词： MATLAB

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A parallel Implementation of the 2D Wavelet Transform Using CUDA

A Parallel Implementation of the 2D Wavelet Transform Using ...

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17th Euromicro International conference on parallel, distributed and Network-Based processing

作者： Franco, Joaquin Bernabe, Gregorio Fernandez, Juan Acacio, Manuel E. Univ Murcia Dpto Ingn & Technol Comp E-30100 Murcia Spain

ISBN: (纸本)9780769535449

There is a multicore platform that is currently concentrating an enormous attention due to its tremendous potential in terms of sustained performance: the NVIDIA Tesla boards. These cards intended for general-purpose computing on graphic processing units (GPGPUs) are used as data-parallel computing devices. They are based on the Computed Unified Device Architecture (CUDA) which is common to the latest NVIDIA GPUs. The bottom line is a multicore platform which provides an enormous potential performance benefit driven by a non-traditional programming model. In this paper we try to provide some insight into the peculiarities of CUDA in order to target scientific computing by means of a specific example. In particular we show that the parallelization of the two-dimensional fast wavelet transform for the NVIDIA Tesla C870 achieves a speedup of 20.8 for an image size of 8192x8192, when compared with the fastest host-only version implementation using OpenMP and including the data transfers between main memory and device memory.

关键词： 2D fast wavelet transform parallel programming multicore processor CUDA NVIDIA Tesla

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Fully distributed and fault tolerant task management based on diffusions

Fully distributed and fault tolerant task management based o...

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17th Euromicro International conference on parallel, distributed and Network-Based processing

作者： Bui, Alain Flauzac, Olivier Rabat, Cyril Univ Versailles St Quentin Yvelines Lab PRiSM CNRS UMR 8144 F-78035 Versailles France Univ Reims CReSTIC SysCom F-51687 Reims 2 France

ISBN: (纸本)9780769535449

The task management is a critical component for the computational grids. The aim is to assign tasks on nodes according to a global scheduling policy and a view of local resources of nodes. A peer-to-peer approach for the task management involves a better scalability for the grid and a higher fault tolerance. But some mechanisms have to be proposed to avoid the computation of replicated tasks that can reduce the efficiency and increase the load of nodes. In the same way, these mechanisms have to limit the number of exchanged messages to avoid the overload of the network. In [1], we have proposed two methods for the task management called active and passive. These methods are based on a random walk: they are fully distributed and fault tolerant. Each node owns a local tasks states set updated thanks to a random walk and each node is in charge of the local assignment. Here, we propose three methods to improve the efficiency of the active method. These new methods are based on a circulating word. The nodes local tasks states sets are updated thanks to periodical diffusions along trees built from the circulating word. Particularly, we show that these methods increase the efficiency of the active method: they produce less replicated tasks. These three methods are also fully distributed and fault tolerant. On the other way, the circulating word can be exploited for other applications like the resources management or the nodes synchronization.

关键词： Efficiency

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ProTailor: a parallel Operator for Extremely Fast Shape Analysis in Bioinformatics Applications

ProTailor: a Parallel Operator for Extremely Fast Shape Anal...

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17th Euromicro International conference on parallel, distributed and Network-Based processing

作者： Mortara, Michela Galizia, Antonella CNR Ist Matemat Applicata & Tecnol Informat Genoa Italy

ISBN: (纸本)9780769535449

The geometric shape of molecular surfaces strongly influences the docking processes where, although electrostatic, hydrophobic and van der Waals interactions affect greatly the binding affinity of the molecules, shape complementarity is a necessary condition. The vast majority of molecular docking algorithms uses a brute force enumeration of the transformation space, which requires extremely long running times. Few other methods use local shape feature matching to reduce the search to those relative positions which satisfy geometric constraints. Based on a shape analysis tool developed in Computer Graphics, in this paper we introduce ProTailor, a parallel algorithm for efficient multi-scale detection of morphological features on molecular surfaces. Thanks to an almost linear speed-up, we show how ProTailor is well suited to efficiently identify salient features like cavities and depressions, saddle areas or bridges. Feature identification may serve as a powerful tool to automatically locate potential binding sites or as a pre-processing step for efficient shape complementarity assessment in docking prediction.

关键词： shape analysis curvature evaluation parallel computing bioinformatics

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A GENETIC ALGORITHM FOR SIDE INFORMATION ENHANCEMENT IN distributed VIDEO CODING

A GENETIC ALGORITHM FOR SIDE INFORMATION ENHANCEMENT IN DIST...

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16th IEEE International conference on image processing

作者： Yaacoub, Charles Farah, Joumana Pesquet-Popescu, Beatrice Holy Spirit Univ Kaslik Fac Sci & Comp Engn Jounieh Lebanon Telecom Paris Tech Signal & Image Proc Dept Paris France

ISBN: (纸本)9781424456536

This work aims at improving the quality of the side information in distributed video coding. Based on genetic algorithms, our proposed technique combines several frames, interpolated using previously developed methods, in a fusion-based approach. Simulation results show a significant improvement in the side information quality compared to other interpolation techniques available in the literature, which greatly improves the rate-distortion performance of a distributed video codec, where the gain in PSNR can reach 6dB.

关键词： distributed video coding frame interpolation genetic algorithms side information Wyner-Ziv coding

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Design of high-speed vision system and algorithms based on distributed parallel processing architecture for target tracking

Design of high-speed vision system and algorithms based on d...

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2009 7th Asian Control conference, ASCC 2009

作者： Zhengtao, Zhang De, Xu Laboratory of Complex Systems and Intelligence Science Institute of Automation Chinese Academy of Sciences Beijing 100190 China

ISBN: (纸本)9788995605691

A high-speed stereovision system based on smart cameras is presented to track table tennis ball. A distributed parallel processing architecture is developed to improve the real-time performance of the system. A set of novel target recognition and tracking algorithm is also proposed to distinguish the ball from the changing background with less computation and good robustness. It takes about 6ms to capture an image and extract the ball. The trajectory of the ball is well measured in real-time. The experimental results are provided to verify the effectiveness of the proposed methods. ©2009 ACA.

关键词： Target tracking

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Multiscale Data Reduction with Flexible Saliency Criterion for Biological image Analysis

Multiscale Data Reduction with Flexible Saliency Criterion f...

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Annual International conference of the IEEE-Engineering-in-Medicine-and-Biology-Society

作者： Bosl, William J. Harvard Mit Div Hlth Sci & Technol Childrens Hosp Boston Informat Program Boston MA 02115 USA

ISBN: (纸本)9781424432950

Analysis of biomedical images requires attention to image features that represent a small fraction of the total image size. A rapid method for eliminating unnecessary detail, analogous to pre-attentive processing in biological vision, allows computational resources to be applied where most needed for higher-level analysis. In this report we describe a method for bottom up merging of pixels into larger units based on flexible saliency criteria using a method similar to structured adaptive grid methods used for solving differential equations on physical domains. While creating a multiscale quadtree representation of the image, a saliency test is applied to prune the tree to eliminate unneeded details, resulting in an image with adaptive resolution. This method may be used as a first step for image segmentation and analysis and is inherently parallel, enabling implementation on programmable hardware or distributed memory clusters.

关键词： image segmentation

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A DIFFERENTIAL MOTION ESTIMATION METHOD FOR image INTERPOLATION IN distributed VIDEO CODING

A DIFFERENTIAL MOTION ESTIMATION METHOD FOR IMAGE INTERPOLAT...

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IEEE International conference on Acoustics, Speech and Signal processing

作者： Cagnazzo, Marco Maugey, Thomas Pesquet-Popescu, Beatrice TELECOM ParisTech TSI Dept F-75634 Paris 13 France

ISBN: (纸本)9781424423538

Motion estimation methods based on differential techniques proved to be very useful in the context of video analysis, but have a limited employment in classical video compression because, though accurate, the dense motion vector field they produce requires too much coding resource and computational effort. On the contrary, this kind of algorithm could be useful in the framework of distributed video coding (DVC). In this paper we propose a differential motion estimation algorithm which can run at the decoder in a DVC scheme, without requiring any increase in coding rate. This algorithm allows a performance improvement in image interpolation with respect to state-of-the-art algorithms.

关键词： distributed video coding dense motion vector field image interpolation differential motion estimation

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