arXiv subjects

Pengju Ren

Publications and source records attributed to Pengju Ren.

40 records · Page 3Linked to original sources

arXiv2020

Visual Semantic SLAM with Landmarks for Large-Scale Outdoor Environment

Semantic SLAM is an important field in autonomous driving and intelligent agents, which can enable robots to achieve high-level navigation tasks, obtain simple cognition or reasoning ability and achieve language-based human-robot-interaction. In this paper, we built a system to creat a semantic 3D map by combining 3D point cloud from ORB SLAM with semantic segmentation information from Convolutional Neural Network model PSPNet-101 for large-scale environments. Besides, a new dataset for KITTI sequences has been built, which contains the GPS information and labels of landmarks from Google Map in related streets of the sequences. Moreover, we find a way to associate the real-world landmark with point cloud map and built a topological map based on semantic map.

cs.RO↗

arXiv2018

Design Space Exploration of Neural Network Activation Function Circuits

The widespread application of artificial neural networks has prompted researchers to experiment with FPGA and customized ASIC designs to speed up their computation. These implementation efforts have generally focused on weight multiplication and signal summation operations, and less on activation functions used in these applications. Yet, efficient hardware implementations of nonlinear activation functions like Exponential Linear Units (ELU), Scaled Exponential Linear Units (SELU), and Hyperbolic Tangent (tanh), are central to designing effective neural network accelerators, since these functions require lots of resources. In this paper, we explore efficient hardware implementations of activation functions using purely combinational circuits, with a focus on two widely used nonlinear activation functions, i.e., SELU and tanh. Our experiments demonstrate that neural networks are generally insensitive to the precision of the activation function. The results also prove that the proposed combinational circuit-based approach is very efficient in terms of speed and area, with negligible accuracy loss on the MNIST, CIFAR-10 and IMAGENET benchmarks. Synopsys Design Compiler synthesis results show that circuit designs for tanh and SELU can save between 3.13-7.69 and 4.45-8:45 area compared to the LUT/memory-based implementations, and can operate at 5.14GHz and 4.52GHz using the 28nm SVT library, respectively. The implementation is available at: https://github.com/ThomasMrY/ActivationFunctionDemo.

cs.NE↗

arXiv2018

Maximum Total Correntropy Diffusion Adaptation over Networks with Noisy Links

Distributed estimation over networks draws much attraction in recent years. In many situations, due to imperfect information communication among nodes, the performance of traditional diffusion adaptive algorithms such as the diffusion LMS (DLMS) may degrade. To deal with this problem, several modified DLMS algorithms have been proposed. However, these DLMS based algorithms still suffer from biased estimation and are not robust to impulsive link noise. In this paper, we focus on improving the performance of diffusion adaptation with noisy links from two aspects: accuracy and robustness. A new algorithm called diffusion maximum total correntropy (DMTC) is proposed. The new algorithm is theoretically unbiased in Gaussian noise, and can efficiently handle the link noises in the presence of large outliers. The adaptive combination rule is applied to further improve the performance. The stability analysis of the proposed algorithm is given. Simulation results show that the DMTC algorithm can achieve good performance in both Gaussian and non-Gaussian noise environments.

cs.IT↗

arXiv2017

FASHION: Fault-Aware Self-Healing Intelligent On-chip Network

To avoid packet loss and deadlock scenarios that arise due to faults or power gating in multicore and many-core systems, the network-on-chip needs to possess resilient communication and load-balancing properties. In this work, we introduce the Fashion router, a self-monitoring and self-reconfiguring design that allows for the on-chip network to dynamically adapt to component failures. First, we introduce a distributed intelligence unit, called Self-Awareness Module (SAM), which allows the router to detect permanent component failures and build a network connectivity map. Using local information, SAM adapts to faults, guarantees connectivity and deadlock-free routing inside the maximal connected subgraph and keeps routing tables up-to-date. Next, to reconfigure network links or virtual channels around faulty/power-gated components, we add bidirectional link and unified virtual channel structure features to the Fashion router. This version of the router, named Ex-Fashion, further mitigates the negative system performance impacts, leads to larger maximal connected subgraph and sustains a relatively high degree of fault-tolerance. To support the router, we develop a fault diagnosis and recovery algorithm executed by the Built-In Self-Test, self-monitoring, and self-reconfiguration units at runtime to provide fault-tolerant system functionalities. The Fashion router places no restriction on topology, position or number of faults. It drops 54.3-55.4% fewer nodes for same number of faults (between 30 and 60 faults) in an 8x8 2D-mesh over other state-of-the-art solutions. It is scalable and efficient. The area overheads are 2.311% and 2.659% when implemented in 8x8 and 16x16 2D-meshes using the TSMC 65nm library at 1.38GHz clock frequency.

cs.AR↗