This paper describes a parallel implementation developed to improve the time performance of the Iterative Closest Point Algorithm. Within each iteration, the correspondence calculations are distributed among the proce...
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ISBN:
(纸本)0769509851
This paper describes a parallel implementation developed to improve the time performance of the Iterative Closest Point Algorithm. Within each iteration, the correspondence calculations are distributed among the processor resources. Ar the end of each iteration, the results of the correspondence determination are communicated back to a central processor and the current transformation is calculated A number of additional techniques were developed that sen,ed to improve upon this basic scheme. Calculating the partial sums within each distributed resource made it unnecessary to transmit the correspondence values back to the central processor, which reduced the communication overhead, and improved time performance. Randomly distributing the points among the processor resources resulted in a better load balancing, which further improved time performance. We also found that thinning the image by randomly removing a certain percentage of the points did not improve the performance, when viewed as the progression of mse with time. The method was implemented and tested on a 22 node Beowulf class cluster. For a large image, linear performance improvements were obtained for up to 16 processors, while they held for rtp to 8 processors with a smaller image.
Product requirements often dictate the use of off-the-shelf processors for very fast signal processing applications. Additionally, restrictions on cost, power, or size/weight may preclude the use of specialized vector...
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ISBN:
(纸本)0780370414
Product requirements often dictate the use of off-the-shelf processors for very fast signal processing applications. Additionally, restrictions on cost, power, or size/weight may preclude the use of specialized vector processors for implementation of the algorithms. We discuss a new method for performing signed parallelprocessing in scalar, off-the-shelf processors for integerized signal processing algorithms. Uniform data precision may be used, but is not required for the method. It is shown that the reduction in execution cycles resulting from this implementation is approximately linear in the size of the registers, divided by the precision required.
A Toeplitz-block-Toeplitz (TBT) matrix is block Toeplitz with Toeplitz blocks. TBT systems of equations arise in 2-D interpolation, 2-D linear prediction and 2-D least-squares deconvolution problems. Although the doub...
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ISBN:
(纸本)0780370414
A Toeplitz-block-Toeplitz (TBT) matrix is block Toeplitz with Toeplitz blocks. TBT systems of equations arise in 2-D interpolation, 2-D linear prediction and 2-D least-squares deconvolution problems. Although the doubly Toeplitz structure should be exploitable in a fast algorithm, existing fast algorithms only exploit the block Toeplitz structure, not the Toeplitz structure of the blocks. Iterative algorithms can employ the 2-D FFT, but usually take thousands of iterations to converge. We develop a new fast algorithm that assumes a smoothness constraint (described in the text) on the matrix entries. For an M-2 X M-2 TBT matrix with M M x M Toeplitz blocks along each edge, the algorithm requires only O(6M(3)) operations to solve an M-2 X M-2 linear system of equations;parallel computing on 2M processors can be performed on the algorithm as given. Two examples show the operation and performance of the algorithm.
In this paper a scheme for efficient system partitioning of computation in wireless sensor networks is presented. Local computation of the sensor data in wireless networks can be highly energy-efficient, because redun...
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ISBN:
(纸本)0780370414
In this paper a scheme for efficient system partitioning of computation in wireless sensor networks is presented. Local computation of the sensor data in wireless networks can be highly energy-efficient, because redundant communication costs can be reduced. It is important to develop energy-efficient signal processing algorithms to be run at the sensor nodes. This paper presents a technique to optimize system energy by parallelizing computation through the network and by exploiting underlying hooks for power management. By parallelizing computation, the voltage supply level and clock frequency of the nodes can be lowered, which reduces energy dissipation. A 60% energy reduction for a sensor application of source localization is demonstrated. The results are generalized for finding optimal voltage and frequency operating points that lead to minimum system energy dissipation.
The characteristics of design of embedded CPU based on IP core are analyzed, then provides the design hole problems existing in design of AHB interface in an ARM core based CPU By modification on AHB protocol, hole-av...
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ISBN:
(纸本)0819442836
The characteristics of design of embedded CPU based on IP core are analyzed, then provides the design hole problems existing in design of AHB interface in an ARM core based CPU By modification on AHB protocol, hole-avoiding methods are presented. In the end, hardware implementation of AHB interface is discussed.
In real speaker verification applications, additive or convolutive noise creates a mismatch between training and recognition environments, degrading performance. parallel Model Combination (PMC) is used successfully t...
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ISBN:
(纸本)0780370414
In real speaker verification applications, additive or convolutive noise creates a mismatch between training and recognition environments, degrading performance. parallel Model Combination (PMC) is used successfully to improve the noise robustness of Hidden Markov Model (HMM) based speech recognisers [5]. This paper presents the results of applying PMC to compensate for additive noise in HMM-based text-dependent speaker verification. Speech and noise data were obtained from the YOHO [6] and NOISEX-92 databases [131 respectively. Speaker recognition Equal Error Rates (EER) are presented for noise-contaminated speech at different signal-to-noise ratios (SNRs) and different noise sources. For example, average EER for speech in operations room noise at 6dB SNR dropped from approximately 20% un-compensated to less than 5% using PMC. Finally, it is shown that speaker recognition performance is relatively insensitive to the exact value of the parameter that determines the relative amplitudes of the speech and noise components of the PMC model.
A combined Kalman filter (KF) and natural gradient algorithm (NGA) approach is proposed to address the problem of blind source separation (BSS) in time-varying environments, in particular for binary distributed signal...
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ISBN:
(纸本)0780370414
A combined Kalman filter (KF) and natural gradient algorithm (NGA) approach is proposed to address the problem of blind source separation (BSS) in time-varying environments, in particular for binary distributed signals. In situations where the mixing channel is non-stationary, the performance of NGA is often poor. Typically, in such cases, an adaptive learning rate is used to help NGA track the changes in the environment. The Kalman filter, on the other hand, is the optimal minimum mean square error method for tracking certain non-stationarity. Experimental results are presented, and suggest that the combined approach performs significantly better than NGA in the presence of both continuous and abrupt non-stationarities.
Evolving networks of ad-hoc, wireless sensing nodes rely heavily on the ability to establish position information. The algorithms presented herein rely on range measurements between pairs of nodes and the a priori coo...
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ISBN:
(纸本)0780370414
Evolving networks of ad-hoc, wireless sensing nodes rely heavily on the ability to establish position information. The algorithms presented herein rely on range measurements between pairs of nodes and the a priori coordinates of sparsely located anchor nodes. Clusters of nodes surrounding anchor nodes cooperatively establish confident position estimates through assumptions, checks, and iterative refinements. Once established, these positions are propagated to more distant nodes, allowing the entire network to create an accurate map of itself. Major obstacles include overcoming inaccuracies in range measurements as great as +/-50%, as well as the development of initial guesses for node locations in clusters with few or no anchor nodes. Solutions to these problems are presented and discussed, using position error as the primary metric. Algorithms are compared according to position error, scalability, and communication and computational requirements. Early simulations yield average position errors of 5% in the presence of both range and initial position inaccuracies.
A powerful technique used for power system composite reliability evaluation is Monte Carlo Simulation (MCS). There are two approaches to MCS in this context: non-sequential MCS, in which the system states are randomly...
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The proceedings contain 119 papers. The special focus in this conference is on Digital Imaging Applications and Environmental Modeling. The topics include: Densification of digital terrain elevations using shape from ...
ISBN:
(纸本)3540422331
The proceedings contain 119 papers. The special focus in this conference is on Digital Imaging Applications and Environmental Modeling. The topics include: Densification of digital terrain elevations using shape from shading with single satellite imagery;PC-based system for calibration, reconstruction, processing, and visualization of 3D ultrasound data based on a magnetic-field position and orientation sensing system;automatic real-time XRII local distortion correction method for digital linear tomography;meeting the computational demands of nuclear medical imaging using commodity clusters;an image registration algorithm based on cylindrical prototype model;an area-based stereo matching using adaptive search range and window size;methods of sensitivity theory and inverse modeling for estimation of source term and risk/vulnerability areas;the simulation of photochemical smog episodes in hungary and central europe using adaptive gridding models;numerical solution of the aerosol condensation/evaporation equation;efficient treatment of large-scale air pollution models on supercomputers;pattern search methods for use-provided points;advantages of parallel computing and graphical investigating techniques;adaptive load balancing for MPI programs;performance and irregular behavior of adaptive task partitioning;optimizing register spills for eager functional languages;mapping parallel programs onto distributed computer systems with faulty elements;an adaptive learning framework for optimizing artificial neural networks;solving nonlinear differential equations by a neural network method;fuzzy object blending in 2D;an adaptive neuro-fuzzy approach for modeling and control of nonlinear systems;the match fit algorithm;automatic implementation and simulation of qualitative cognitive maps and inclusion-based approximate reasoning.
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