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21st International Symposium on Applied Reconfigurable Computing, ARC 2025

作者： Danilowicz, Michal Kryjak, Tomasz Embedded Vision Systems Group Computer Vision Laboratory Department of Automatic Control and Robotics AGH University of Science and Technology Krakow Poland

ISBN: (纸本)9783031879944

Multi-object tracking (MOT) is one of the most important problems in computer vision and a key component of any vision-based perception system used in advanced autonomous mobile robotics. Therefore, its implementation on low-power and real-time embedded platforms is highly desirable. Modern MOT algorithms should be able to track objects of a given class (e.g. people or vehicles). In addition, the number of objects to be tracked is not known in advance, and they may appear and disappear at any time, as well as be obscured. For these reasons, the most popular and successful approaches have recently been based on the tracking paradigm. Therefore, the presence of a high quality object detector is essential, which in practice accounts for the vast majority of the computational and memory complexity of the whole MOT system. In this paper, we propose an FPGA (Field-Programmable Gate Array) implementation of an embedded MOT system based on a quantized YOLOv8 detector and the SORT (Simple Online Realtime Tracker) tracker. We use a modified version of the FINN framework to utilize external memory for model parameters and to support operations necessary required by YOLOv8. We discuss the evaluation of detection and tracking performance using the COCO and MOT15 datasets, where we achieve 0.21 mAP and 38.9 MOTA respectively. As the computational platform, we use an MPSoC system (Zynq UltraScale+ device from AMD/Xilinx) where the detector is deployed in reprogrammable logic and the tracking algorithm is implemented in the processor system. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： System-on-chip

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Physical Layer Parameters for Jamming Attack Detection in VANETs: A Long Short Term Memory Approach 1

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1st international conference on Machine Intelligence and computer Science Applications, ICMICSA 2022

作者： El Jakani, Yassin Boulouz, Abdellah El Hachemy, Said Computer Systems and Vision Laboratory Faculty of Sciences Ibn Zohr University Agadir Morocco

ISBN: (数字)9783031293139

ISBN: (纸本)9783031288456

Nowadays, the reliance on intelligent traffic management is increasing. Vehicular ad hoc networks (VANETs), which belong to mobile ad hoc networks MANETs, are the focus of researchers as a promising approach to building intelligent transportation systems. One of the leading security requirements of VANETs is availability. Thus, adversaries take advantage of the physical layer vulnerabilities of these wireless sensor networks to launch radio frequency (RF) jamming attacks that cause a denial of services which compromises drivers’ safety. This paper proposes a recurrent neural network (RNN) architecture based on Long-short Term Memory (LSTM) for jamming attack detection, using a physical layer parameter defined as the Received Signal Strength Indicator (RSSI). We compared our model with multiple machine learning algorithms, including random forest, support vector machine, and K Nearest Neighbor. The proposed approach overcomes other models with a 78% accuracy and a precision of 100% related to malicious RSSI signals. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Long short-term memory

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Energy Efficient Hardware Acceleration of Neural Networks with Power-of-Two Quantisation

Energy Efficient Hardware Acceleration of Neural Networks wi...

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International Conference on computer vision and Graphics, ICCVG 2022

作者： Przewlocka-Rus, Dominika Kryjak, Tomasz Embedded Vision Systems Group Computer Vision Laboratory Department of Automatic Control and Robotics AGH University of Science and Technology Krakow Poland

ISBN: (纸本)9783031220241

Deep neural networks virtually dominate the domain of most modern vision systems, providing high performance at a cost of increased computational complexity. Since for those systems it is often required to operate both in real-time and with minimal energy consumption (e.g., for wearable devices or autonomous vehicles, edge Internet of Things (IoT), sensor networks), various network optimisation techniques are used, e.g., quantisation, pruning, or dedicated lightweight architectures. Due to the logarithmic distribution of weights in neural network layers, a method providing high performance with significant reduction in computational precision (for 4-bit weights and less) is the Power-of-Two (PoT) quantisation (and therefore also with a logarithmic distribution). This method introduces additional possibilities of replacing the typical for neural networks Multiply and ACcumulate (MAC—performing, e.g., convolution operations) units, with more energy-efficient Bitshift and ACcumulate (BAC). In this paper, we show that a hardware neural network accelerator with PoT weights implemented on the Zynq UltraScale + MPSoC ZCU104 SoC FPGA can be at least 1.4x more energy efficient than the uniform quantisation version. To further reduce the actual power requirement by omitting part of the computation for zero weights, we also propose a new pruning method adapted to logarithmic quantisation. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： System-on-chip

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Traffic Sign Classification Using Deep and Quantum Neural Networks

Traffic Sign Classification Using Deep and Quantum Neural Ne...

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International Conference on computer vision and Graphics, ICCVG 2022

作者： Kuros, Sylwia Kryjak, Tomasz Embedded Vision Systems Group Computer Vision Laboratory Department of Automatic Control and Robotics AGH University of Science and Technology Krakow Poland

ISBN: (纸本)9783031220241

Quantum Neural Networks (QNNs) are an emerging technology that can be used in many applications including computer vision. In this paper, we presented a traffic sign classification system implemented using a hybrid quantum-classical convolutional neural network. Experiments on the German Traffic Sign Recognition Benchmark dataset indicate that currently QNN do not outperform classical DCNN (Deep Convolutuional Neural Networks), yet still provide an accuracy of over 90% and are a definitely promising solution for advanced computer vision. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Traffic signs

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Hardware-Accelerated Event-Graph Neural Networks for Low-Latency Time-Series Classification on SoC FPGA 21st

Hardware-Accelerated Event-Graph Neural Networks for Low-La...

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21st International Symposium on Applied Reconfigurable Computing, ARC 2025

作者： Nakano, Hiroshi Blachut, Krzysztof Jeziorek, Kamil Wzorek, Piotr Dampfhoffer, Manon Mesquida, Thomas Nishi, Hiroaki Kryjak, Tomasz Dalgaty, Thomas Graduate School of Science and Technology Keio University Tokyo Japan Embedded Vision Systems Group Computer Vision Laboratory AGH University of Krakow Krakow Poland CEA-List Université Grenoble Alpes Grenoble France

ISBN: (纸本)9783031879944

As the quantities of data recorded by embedded edge sensors grow, so too does the need for intelligent local processing. Such data often comes in the form of time-series signals, based on which real-time predictions can be made locally using an AI model. However, a hardware-software approach capable of making low-latency predictions with low power consumption is required. In this paper, we present a hardware implementation of an event-graph neural network for time-series classification. We leverage an artificial cochlea model to convert the input time-series signals into a sparse event-data format that allows the event-graph to drastically reduce the number of calculations relative to other AI methods. We implemented the design on a SoC FPGA and applied it to the real-time processing of the Spiking Heidelberg Digits (SHD) dataset to benchmark our approach against competitive solutions. Our method achieves a floating-point accuracy of 92.7% on the SHD dataset for the base model, which is only 2.4% and 2% less than the state-of-the-art models with over 10× and 67× fewer model parameters, respectively. It also outperforms FPGA-based spiking neural network implementations by 19.3% and 4.5%, achieving 92.3% accuracy for the quantised model while using fewer computational resources and reducing latency. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： event-based audio processing FPGA graph convolutional neural networks dynamic audio sensor artificial cochlea

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Benchmarking a ROS 2-Based Indirect SLAM on Edge Devices 4

Benchmarking a ROS 2-Based Indirect SLAM on Edge Devices

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4th International Conference on Robotics, Automation, and Artificial Intelligence, RAAI 2024

作者： Behret, Valentino Kushtanova, Regina Palme, Frank Munich University of Applied Sciences Laboratory for 3D Measuring Systems and Computer Vision Department of Mechanical Automotive and Aeronautical Engineering Munich Germany

ISBN: (纸本)9798331520038

This study provides insights into SLAM performance on embedded systems and introduces an unsupervised parameter tuning approach for enhanced localisation accuracy. Our paper benchmarks a ROS 2-based indirect Simultaneous Localisation and Mapping (SLAM) system across six NVIDIA Jetson devices: Orin Nano 4 GB, Orin Nano 8 GB, Orin NX 8 GB, Orin NX 16 GB, AGX Orin 32 GB Auvidea, and AGX Orin 32 GB Devkit, using sequences from the KITTI dataset. The edge devices differ significantly in GPU computing power, number of CPU cores, CPU clock frequency as well as memory. SLAM evaluations are conducted within Docker containers to ensure consistency, with feature detection parameters optimised using an unsupervised tuning approach for each device. In addition to localisation accuracy, hardware utilisation is analysed, revealing that less than a half of CPU capabilities and approximately 5- 10 % of GPU power are utilised. The results indicate that in the default configuration devices with lower computing power demonstrate higher fluctuation in SLAM localisation accuracy. However, optimising feature parameters improves accuracy stability, especially for less powerful edge devices, indicating that even lower-powered but more energy-saving devices can achieve similar performance when an optimised balance between feature quantity and runtime constraints is achieved. © 2024 IEEE.

关键词： Graphics processing unit

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Edge-aware Feature Aggregation Network for Polyp Segmentation

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Machine Intelligence Research 2025年第1期22卷 101-116页

作者： Tao Zhou Yizhe Zhang Geng Chen Yi Zhou Ye Wu Deng-Ping Fan PCA Lab Key Laboratory of Intelligent Perception and Systems for High-dimensional Information of Ministry of EducationSchool of Computer Science and EngineeringNanjing University of Science and TechnologyNanjing210094China School of Computer Science and Engineering Northwestern Polytechnical University(NPU)Xi’an710129China School of Computer Science and Engineering Southeast UniversityNanjing211189China Computer Vision Lab ETH ZürichZürich8092Switzerland

Precise polyp segmentation is vital for the early diagnosis and prevention of colorectal cancer(CRC)in clinical ***,due to scale variation and blurry polyp boundaries,it is still a challenging task to achieve satisfactory segmentation performance with different scales and *** this study,we present a novel edge-aware feature aggregation network(EFA-Net)for polyp segmentation,which can fully make use of cross-level and multi-scale features to enhance the performance of polyp ***,we first present an edge-aware guidance module(EGM)to combine the low-level features with the high-level features to learn an edge-enhanced feature,which is incorporated into each decoder unit using a layer-by-layer ***,a scale-aware convolution module(SCM)is proposed to learn scale-aware features by using dilated convolutions with different ratios,in order to effectively deal with scale ***,a cross-level fusion module(CFM)is proposed to effectively integrate the cross-level features,which can exploit the local and global contextual ***,the outputs of CFMs are adaptively weighted by using the learned edge-aware feature,which are then used to produce multiple side-out segmentation *** results on five widely adopted colonoscopy datasets show that our EFA-Net outperforms state-of-the-art polyp segmentation methods in terms of generalization and *** implementation code and segmentation maps will be publicly at https://***/taozh2017/EFANet.

关键词： Colorectal cancer polyp segmentation edge-aware guidance module scale-aware convolution module cross-level fusion module

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PointPillars Backbone Type Selection for Fast and Accurate LiDAR Object Detection

PointPillars Backbone Type Selection for Fast and Accurate L...

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International Conference on computer vision and Graphics, ICCVG 2022

作者： Lis, Konrad Kryjak, Tomasz Embedded Vision Systems Group Computer Vision Laboratory Department of Automatic Control and Robotics AGH University of Science and Technology Al. Mickiewicza 30 Krakow30-059 Poland

ISBN: (纸本)9783031220241

3D object detection from LiDAR sensor data is an important topic in the context of autonomous cars and drones. In this paper, we present the results of experiments on the impact of backbone selection of a deep convolutional neural network on detection accuracy and computation speed. We chose the PointPillars network, which is characterised by a simple architecture, high speed, and modularity that allows for easy expansion. During the experiments, we paid particular attention to the change in detection efficiency (measured by the mAP metric) and the total number of multiply-addition operations needed to process one point cloud. We tested 10 different convolutional neural network architectures that are widely used in image-based detection problems. For a backbone like MobilenetV1, we obtained an almost 4x speedup at the cost of a 1.13% decrease in mAP. On the other hand, for CSPDarknet we got an acceleration of more than 1.5x at an increase in mAP of 0.33%. We have thus demonstrated that it is possible to significantly speed up a 3D object detector in LiDAR point clouds with a small decrease in detection efficiency. This result can be used when PointPillars or similar algorithms are implemented in embedded systems, including SoC FPGAs. The code is available at https://***/vision-agh/pointpillars-backbone. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Object detection

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Ultra-large mode area multi-core orbital angular momentum transmission fiber designed by neural network and optimization algorithms

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Optoelectronics Letters 2023年第12期19卷 744-751页

作者： GU Zhiwei HUANG Wei ZHANG Ran FAN Junjie SONG Binbin Key Laboratory of Computer Vision and Systems(Ministry of Education) School of Computer Science and EngineeringTianjin University of TechnologyTianjin 300384China Engineering Research Center of Learning-Based Intelligent System(Ministry of Education) Tianjin University of TechnologyTianjin 300384China

A large mode area multi-core orbital angular momentum(OAM)transmission fiber is designed and optimized by neural network and optimization *** neural network model has been established first to predict the optical properties of multi-core OAM transmission fibers with high accuracy and speed,including mode area,nonlinear coefficient,purity,dispersion,and effective index *** the trained neural network model is combined with different particle swarm optimization(PSO)algorithms for automatic iterative optimization of multi-core structures *** to the structural advantages of multi-core fiber and the automatic optimization process,we designed a number of multi-core structures with high OAM mode purity(>95%)and ultra-large mode area(>3000µm^(2)),which is larger by more than an order of magnitude compared to the conventional ring-core OAM transmission fibers.

关键词： network fiber OAM

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Real-Time Multi-Object Tracking using YOLOv8 and SORT on a SoC FPGA

arXiv

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arXiv 2025年

作者： Danilowicz, Michal Kryjak, Tomasz Embedded Vision Systems Group Computer Vision Laboratory Department of Automatic Control and Robotics AGH University of Krakow Poland

关键词： System-on-chip

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