Compiling CNNs with Cain: focal-plane processing for robot navigation
-
Published:2022-09-10
Issue:8
Volume:46
Page:893-910
-
ISSN:0929-5593
-
Container-title:Autonomous Robots
-
language:en
-
Short-container-title:Auton Robot
Author:
Stow Edward,Ahsan Abrar,Li Yingying,Babaei Ali,Murai Riku,Saeedi Sajad,Kelly Paul H. J.
Abstract
AbstractFocal-plane Sensor-processors (FPSPs) are a camera technology that enables low power, high frame rate computation in the image sensor itself, making them suitable for edge computation. To fit into the sensor array, FPSPs are highly resource-constrained, with limited instruction set and few registers - which makes developing complex algorithms difficult. In this work, we present Cain, a compiler for convolutional filters that targets SCAMP-5, a general-purpose FPSP. Cain generates code to evaluate multiple convolutional kernels at the same time. It generates code that avoids the need for hardware multipliers, while orchestrating the exploitation of common sub-terms—leading to a large reduction in instruction count compared to both straightforward and prior optimized approaches. We demonstrate the capability enabled by Cain on SCAMP-5 with robotic navigation for near-sensor high-speed and low-power computation, by using Cain to implement a neural network on the focal plane.
Funder
engineering and physical sciences research council
Publisher
Springer Science and Business Media LLC
Subject
Artificial Intelligence
Reference30 articles.
1. Abadi, M., Barham, P., Chen, J., Chen, Z., Davis, A., Dean, J., Devin, M., Ghemawat, S., Irving, G., Isard, M., & Kudlur, M. (2016). Tensorflow: A system for large-scale machine learning. In 12th USENIX symposium on operating systems design and implementation OSDI 16), (pp. 265–283). 2. Barthels, H., Psarras, C., & Bientinesi, P. (2019). Linnea: Automatic generation of efficient linear algebra programs. arXiv:1912.12924. 3. Bose, L., Chen, J., Carey, S. J., Dudek, P., & Mayol-Cuevas, W. (2017). Visual odometry for pixel processor arrays. In 2017 IEEE international conference on computer vision (ICCV), (pp. 4614–4622). 4. Bose, L., Chen, J., Carey, S. J., Dudek, P., & Mayol-Cuevas, W. (2019). A camera that CNNs: Towards embedded neural networks on pixel processor arrays. In Proceedings of the IEEE international conference on computer vision (ICCV), (pp. 1335–1344). 5. Carey, S. J., Barr, D. R. W., Wang, B., Lopich, A., & Dudek, P. (2012). Locating high speed multiple objects using a scamp-5 vision-chip. In 2012 13th international workshop on cellular nanoscale networks and their applications, (pp. 1–2).
Cited by
2 articles.
订阅此论文施引文献
订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献
|
|