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Shubham Jain

Publications and source records attributed to Shubham Jain.

At least 55 records · Page 3Linked to original sources

PDT: Pretrained Dual Transformers for Time-aware Bipartite Graphs

Pre-training on large models is prevalent and emerging with the ever-growing user-generated content in many machine learning application categories. It has been recognized that learning contextual knowledge from the datasets depicting user-content interaction plays a vital role in downstream tasks. Despite several studies attempting to learn contextual knowledge via pre-training methods, finding an optimal training objective and strategy for this type of task remains a challenging problem. In this work, we contend that there are two distinct aspects of contextual knowledge, namely the user-side and the content-side, for datasets where user-content interaction can be represented as a bipartite graph. To learn contextual knowledge, we propose a pre-training method that learns a bi-directional mapping between the spaces of the user-side and the content-side. We formulate the training goal as a contrastive learning task and propose a dual-Transformer architecture to encode the contextual knowledge. We evaluate the proposed method for the recommendation task. The empirical studies have demonstrated that the proposed method outperformed all the baselines with significant gains.

cs.AI↗

Data-Side Efficiencies for Lightweight Convolutional Neural Networks

We examine how the choice of data-side attributes for two important visual tasks of image classification and object detection can aid in the choice or design of lightweight convolutional neural networks. We show by experimentation how four data attributes - number of classes, object color, image resolution, and object scale affect neural network model size and efficiency. Intra- and inter-class similarity metrics, based on metric learning, are defined to guide the evaluation of these attributes toward achieving lightweight models. Evaluations made using these metrics are shown to require 30x less computation than running full inference tests. We provide, as an example, applying the metrics and methods to choose a lightweight model for a robot path planning application and achieve computation reduction of 66% and accuracy gain of 3.5% over the pre-method model.

cs.CV↗

Deep perceptual hashing algorithms with hidden dual purpose: when client-side scanning does facial recognition

End-to-end encryption (E2EE) provides strong technical protections to individuals from interferences. Governments and law enforcement agencies around the world have however raised concerns that E2EE also allows illegal content to be shared undetected. Client-side scanning (CSS), using perceptual hashing (PH) to detect known illegal content before it is shared, is seen as a promising solution to prevent the diffusion of illegal content while preserving encryption. While these proposals raise strong privacy concerns, proponents of the solutions have argued that the risk is limited as the technology has a limited scope: detecting known illegal content. In this paper, we show that modern perceptual hashing algorithms are actually fairly flexible pieces of technology and that this flexibility could be used by an adversary to add a secondary hidden feature to a client-side scanning system. More specifically, we show that an adversary providing the PH algorithm can ``hide" a secondary purpose of face recognition of a target individual alongside its primary purpose of image copy detection. We first propose a procedure to train a dual-purpose deep perceptual hashing model by jointly optimizing for both the image copy detection and the targeted facial recognition task. Second, we extensively evaluate our dual-purpose model and show it to be able to reliably identify a target individual 67% of the time while not impacting its performance at detecting illegal content. We also show that our model is neither a general face detection nor a facial recognition model, allowing its secondary purpose to be hidden. Finally, we show that the secondary purpose can be enabled by adding a single illegal looking image to the database. Taken together, our results raise concerns that a deep perceptual hashing-based CSS system could turn billions of user devices into tools to locate targeted individuals.

cs.CR↗

Operator theory on generalized Hartogs triangles

We consider the family $\mathcal P$ of $n$-tuples $P$ consisting of polynomials $P_1, \ldots, P_n$ with nonnegative coefficients which satisfy $\partial_i P_j(0) = δ_{i, j},$ $i, j=1, \ldots, n.$ With any such $P,$ we associate a Reinhardt domain $\triangle^{\!n}_{_P}$ that we will call the generalized Hartogs triangle. We are particularly interested in the choices $P_a = (P_{1, a}, \ldots, P_{n, a}),$ $a \geq 0,$ where $P_{j, a}(z) = z_j + a \prod_{k=1}^n z_k,~ j=1, \ldots, n.$ The generalized Hartogs triangle associated with $P_a$ is given by \begin{equation} \triangle^{\!n}_a = \Big\{z \in \mathbb C \times \mathbb C^{n-1}_* : |z_j|^2 < |z_{j+1}|^2(1-a|z_1|^2), ~j=1, \ldots, n-1, |z_n|^2 + a|z_1|^2 < 1\Big\}. \end{equation} The domain $\triangle^{\!n}_{_P},$ $n \geq 2$ is never polynomially convex. However, $\triangle^{\!n}_{_P}$ is always holomorphically convex. With any $P \in \mathcal P$ and $m \in \mathbb N^n,$ we associate a positive semi-definite kernel $\mathscr K_{_{P, m}}$ on $\triangle^{\!n}_{_P}.$ This combined with the Moore's theorem yields a reproducing kernel Hilbert space $\mathscr H^2_m(\triangle^{\!n}_{_P})$ of holomorphic functions on $\triangle^{\!n}_{_P}.$ We study the space $\mathscr H^2_m(\triangle^{\!n}_{_P})$ and the multiplication $n$-tuple $\mathscr M_z$ acting on $\mathscr H^2_m(\triangle^{\!n}_{_P}).$ It turns out that $\mathscr M_z$ is never rationally cyclic. Although the dimension of the joint kernel of $\mathscr M^*_z-λ$ is constant of value $1$ for every $λ\in \triangle^{\!n}_{_P}$, it has jump discontinuity at the serious singularity $0$ of the boundary of $\triangle^{\!n}_{_P}$ with value equal to $\infty.$ We capitalize on the notion of joint subnormality to define a Hardy space on $\triangle^{\!n}_{_0}.$ This in turn gives an analog of the von Neumann's inequality for $\triangle^{\!n}_{_0}.$

math.CV↗

ADOPT: A system for Alerting Drivers to Occluded Pedestrian Traffic

Recent statistics reveal an alarming increase in accidents involving pedestrians (especially children) crossing the street. A common philosophy of existing pedestrian detection approaches is that this task should be undertaken by the moving cars themselves. In sharp departure from this philosophy, we propose to enlist the help of cars parked along the sidewalk to detect and protect crossing pedestrians. In support of this goal, we propose ADOPT: a system for Alerting Drivers to Occluded Pedestrian Traffic. ADOPT lays the theoretical foundations of a system that uses parked cars to: (1) detect the presence of a group of crossing pedestrians - a crossing cohort; (2) predict the time the last member of the cohort takes to clear the street; (3) send alert messages to those approaching cars that may reach the crossing area while pedestrians are still in the street; and, (4) show how approaching cars can adjust their speed, given several simultaneous crossing locations. Importantly, in ADOPT all communications occur over very short distances and at very low power. Our extensive simulations using SUMO-generated pedestrian and car traffic have shown the effectiveness of ADOPT in detecting and protecting crossing pedestrians.

cs.MA↗

Adversarial Detection Avoidance Attacks: Evaluating the robustness of perceptual hashing-based client-side scanning

End-to-end encryption (E2EE) by messaging platforms enable people to securely and privately communicate with one another. Its widespread adoption however raised concerns that illegal content might now be shared undetected. Following the global pushback against key escrow systems, client-side scanning based on perceptual hashing has been recently proposed by tech companies, governments and researchers to detect illegal content in E2EE communications. We here propose the first framework to evaluate the robustness of perceptual hashing-based client-side scanning to detection avoidance attacks and show current systems to not be robust. More specifically, we propose three adversarial attacks--a general black-box attack and two white-box attacks for discrete cosine transform-based algorithms--against perceptual hashing algorithms. In a large-scale evaluation, we show perceptual hashing-based client-side scanning mechanisms to be highly vulnerable to detection avoidance attacks in a black-box setting, with more than 99.9% of images successfully attacked while preserving the content of the image. We furthermore show our attack to generate diverse perturbations, strongly suggesting that straightforward mitigation strategies would be ineffective. Finally, we show that the larger thresholds necessary to make the attack harder would probably require more than one billion images to be flagged and decrypted daily, raising strong privacy concerns. Taken together, our results shed serious doubts on the robustness of perceptual hashing-based client-side scanning mechanisms currently proposed by governments, organizations, and researchers around the world.

cs.CR↗

RadioTransformer: A Cascaded Global-Focal Transformer for Visual Attention-guided Disease Classification

In this work, we present RadioTransformer, a novel visual attention-driven transformer framework, that leverages radiologists' gaze patterns and models their visuo-cognitive behavior for disease diagnosis on chest radiographs. Domain experts, such as radiologists, rely on visual information for medical image interpretation. On the other hand, deep neural networks have demonstrated significant promise in similar tasks even where visual interpretation is challenging. Eye-gaze tracking has been used to capture the viewing behavior of domain experts, lending insights into the complexity of visual search. However, deep learning frameworks, even those that rely on attention mechanisms, do not leverage this rich domain information. RadioTransformer fills this critical gap by learning from radiologists' visual search patterns, encoded as 'human visual attention regions' in a cascaded global-focal transformer framework. The overall 'global' image characteristics and the more detailed 'local' features are captured by the proposed global and focal modules, respectively. We experimentally validate the efficacy of our student-teacher approach for 8 datasets involving different disease classification tasks where eye-gaze data is not available during the inference phase. Code: https://github.com/bmi-imaginelab/radiotransformer.

cs.CV↗

COVID-19 Diagnosis from Cough Acoustics using ConvNets and Data Augmentation

With the periodic rise and fall of COVID-19 and countries being inflicted by its waves, an efficient, economic, and effortless diagnosis procedure for the virus has been the utmost need of the hour. COVID-19 positive individuals may even be asymptomatic making the diagnosis difficult, but amongst the infected subjects, the asymptomatic ones need not be entirely free of symptoms caused by the virus. They might not show any observable symptoms like the symptomatic subjects, but they may differ from uninfected ones in the way they cough. These differences in the coughing sounds are minute and indiscernible to the human ear, however, these can be captured using machine learning-based statistical models. In this paper, we present a deep learning approach to analyze the acoustic dataset provided in Track 1 of the DiCOVA 2021 Challenge containing cough sound recordings belonging to both COVID-19 positive and negative examples. To perform the classification on the sound recordings as belonging to a COVID-19 positive or negative examples, we propose a ConvNet model. Our model achieved an AUC score percentage of 72.23 on the blind test set provided by the same for an unbiased evaluation of the models. The ConvNet model incorporated with Data Augmentation further increased the AUC-ROC percentage from 72.23 to 87.07. It also outperformed the DiCOVA 2021 Challenge's baseline model by 23% thus, claiming the top position on the DiCOVA 2021 Challenge leaderboard. This paper proposes the use of Mel frequency cepstral coefficients as the feature input for the proposed model.

cs.SD↗

Learning-From-Disagreement: A Model Comparison and Visual Analytics Framework

With the fast-growing number of classification models being produced every day, numerous model interpretation and comparison solutions have also been introduced. For example, LIME and SHAP can interpret what input features contribute more to a classifier's output predictions. Different numerical metrics (e.g., accuracy) can be used to easily compare two classifiers. However, few works can interpret the contribution of a data feature to a classifier in comparison with its contribution to another classifier. This comparative interpretation can help to disclose the fundamental difference between two classifiers, select classifiers in different feature conditions, and better ensemble two classifiers. To accomplish it, we propose a learning-from-disagreement (LFD) framework to visually compare two classification models. Specifically, LFD identifies data instances with disagreed predictions from two compared classifiers and trains a discriminator to learn from the disagreed instances. As the two classifiers' training features may not be available, we train the discriminator through a set of meta-features proposed based on certain hypotheses of the classifiers to probe their behaviors. Interpreting the trained discriminator with the SHAP values of different meta-features, we provide actionable insights into the compared classifiers. Also, we introduce multiple metrics to profile the importance of meta-features from different perspectives. With these metrics, one can easily identify meta-features with the most complementary behaviors in two classifiers, and use them to better ensemble the classifiers. We focus on binary classification models in the financial services and advertising industry to demonstrate the efficacy of our proposed framework and visualizations.

cs.LG↗

Ax-BxP: Approximate Blocked Computation for Precision-Reconfigurable Deep Neural Network Acceleration

Precision scaling has emerged as a popular technique to optimize the compute and storage requirements of Deep Neural Networks (DNNs). Efforts toward creating ultra-low-precision (sub-8-bit) DNNs suggest that the minimum precision required to achieve a given network-level accuracy varies considerably across networks, and even across layers within a network, requiring support for variable precision in DNN hardware. Previous proposals such as bit-serial hardware incur high overheads, significantly diminishing the benefits of lower precision. To efficiently support precision re-configurability in DNN accelerators, we introduce an approximate computing method wherein DNN computations are performed block-wise (a block is a group of bits) and re-configurability is supported at the granularity of blocks. Results of block-wise computations are composed in an approximate manner to enable efficient re-configurability. We design a DNN accelerator that embodies approximate blocked computation and propose a method to determine a suitable approximation configuration for a given DNN. By varying the approximation configurations across DNNs, we achieve 1.17x-1.73x and 1.02x-2.04x improvement in system energy and performance respectively, over an 8-bit fixed-point (FxP8) baseline, with negligible loss in classification accuracy. Further, by varying the approximation configurations across layers and data-structures within DNNs, we achieve 1.25x-2.42x and 1.07x-2.95x improvement in system energy and performance respectively, with negligible accuracy loss.

cs.LG↗

TxSim:Modeling Training of Deep Neural Networks on Resistive Crossbar Systems

Resistive crossbars have attracted significant interest in the design of Deep Neural Network (DNN) accelerators due to their ability to natively execute massively parallel vector-matrix multiplications within dense memory arrays. However, crossbar-based computations face a major challenge due to a variety of device and circuit-level non-idealities, which manifest as errors in the vector-matrix multiplications and eventually degrade DNN accuracy. To address this challenge, there is a need for tools that can model the functional impact of non-idealities on DNN training and inference. Existing efforts towards this goal are either limited to inference, or are too slow to be used for large-scale DNN training. We propose TxSim, a fast and customizable modeling framework to functionally evaluate DNN training on crossbar-based hardware considering the impact of non-idealities. The key features of TxSim that differentiate it from prior efforts are: (i) It comprehensively models non-idealities during all training operations (forward propagation, backward propagation, and weight update) and (ii) it achieves computational efficiency by mapping crossbar evaluations to well-optimized BLAS routines and incorporates speedup techniques to further reduce simulation time with minimal impact on accuracy. TxSim achieves orders-of-magnitude improvement in simulation speed over prior works, and thereby makes it feasible to evaluate training of large-scale DNNs on crossbars. Our experiments using TxSim reveal that the accuracy degradation in DNN training due to non-idealities can be substantial (3%-10%) for large-scale DNNs, underscoring the need for further research in mitigation techniques. We also analyze the impact of various device and circuit-level parameters and the associated non-idealities to provide key insights that can guide the design of crossbar-based DNN training accelerators.

cs.LG↗

RxNN: A Framework for Evaluating Deep Neural Networks on Resistive Crossbars

Resistive crossbars designed with non-volatile memory devices have emerged as promising building blocks for Deep Neural Network (DNN) hardware, due to their ability to compactly and efficiently realize vector-matrix multiplication (VMM), the dominant computational kernel in DNNs. However, a key challenge with resistive crossbars is that they suffer from a range of device and circuit level non-idealities such as interconnect parasitics, peripheral circuits, sneak paths, and process variations. These non-idealities can lead to errors in VMMs, eventually degrading the DNN's accuracy. It is therefore critical to study the impact of crossbar non-idealities on the accuracy of large-scale DNNs. However, this is challenging because existing device and circuit models are too slow to use in application-level evaluations. We present RxNN, a fast and accurate simulation framework to evaluate large-scale DNNs on resistive crossbar systems. RxNN splits and maps the computations involved in each DNN layer into crossbar operations, and evaluates them using a Fast Crossbar Model (FCM) that accurately captures the errors arising due to crossbar non-idealities while being four-to-five orders of magnitude faster than circuit simulation. FCM models a crossbar-based VMM operation using three stages - non-linear models for the input and output peripheral circuits (DACs and ADCs), and an equivalent non-ideal conductance matrix for the core crossbar array. We implement RxNN by extending the Caffe machine learning framework and use it to evaluate a suite of six large-scale DNNs developed for the ImageNet Challenge. Our experiments reveal that resistive crossbar non-idealities can lead to significant accuracy degradations (9.6%-32%) for these large-scale DNNs. To the best of our knowledge, this work is the first quantitative evaluation of the accuracy of large-scale DNNs on resistive crossbar based hardware.

cs.ET↗

Designing Just-in-Time Detection for Gamified Fitness Frameworks

This paper presents our findings from a multi-year effort to detect motion events early using inertial sensors in real-world settings. We believe early event detection is the next step in advancing motion tracking, and can enable just-in-time interventions, particularly for mHealth applications. Our system targets strength training workouts in the fitness domain, where users perform well-defined movements for each exercise, while wearing an inertial sensor. We collect data for 20 exercises across 12 users over 26 months. We propose an algorithm to detect repetitions before they end, to allow a user to visualize movement derived metrics in real-time. We further develop a gamified approach to display this information to the user and encourage them to perform consistent movements. Participants in a feasibility study find the gamified feedback useful in improving their form. Our system can detect repetition events as early as 500 ms before it ends, which is 2x faster and more accurate than state-of-the-art trackers. We believe our approach will open exciting avenues for tracking, detection, and gamification for fitness frameworks.

cs.HC↗

TiM-DNN: Ternary in-Memory accelerator for Deep Neural Networks

The use of lower precision has emerged as a popular technique to optimize the compute and storage requirements of complex Deep Neural Networks (DNNs). In the quest for lower precision, recent studies have shown that ternary DNNs (which represent weights and activations by signed ternary values) represent a promising sweet spot, achieving accuracy close to full-precision networks on complex tasks. We propose TiM-DNN, a programmable in-memory accelerator that is specifically designed to execute ternary DNNs. TiM-DNN supports various ternary representations including unweighted {-1,0,1}, symmetric weighted {-a,0,a}, and asymmetric weighted {-a,0,b} ternary systems. The building blocks of TiM-DNN are TiM tiles -- specialized memory arrays that perform massively parallel signed ternary vector-matrix multiplications with a single access. TiM tiles are in turn composed of Ternary Processing Cells (TPCs), bit-cells that function as both ternary storage units and signed ternary multiplication units. We evaluate an implementation of TiM-DNN in 32nm technology using an architectural simulator calibrated with SPICE simulations and RTL synthesis. We evaluate TiM-DNN across a suite of state-of-the-art DNN benchmarks including both deep convolutional and recurrent neural networks. A 32-tile instance of TiM-DNN achieves a peak performance of 114 TOPs/s, consumes 0.9W power, and occupies 1.96mm2 chip area, representing a 300X and 388X improvement in TOPS/W and TOPS/mm2, respectively, compared to an NVIDIA Tesla V100 GPU. In comparison to specialized DNN accelerators, TiM-DNN achieves 55X-240X and 160X-291X improvement in TOPS/W and TOPS/mm2, respectively. Finally, when compared to a well-optimized near-memory accelerator for ternary DNNs, TiM-DNN demonstrates 3.9x-4.7x improvement in system-level energy and 3.2x-4.2x speedup, underscoring the potential of in-memory computing for ternary DNNs.

cs.LG↗

Valley-Coupled-Spintronic Non-Volatile Memories with Compute-In-Memory Support

In this work, we propose valley-coupled spin-hall memories (VSH-MRAMs) based on monolayer WSe2. The key features of the proposed memories are (a) the ability to switch magnets with perpendicular magnetic anisotropy (PMA) via VSH effect and (b) an integrated gate that can modulate the charge/spin current (IC/IS) flow. The former attribute results in high energy efficiency (compared to the Giant-Spin Hall (GSH) effect-based devices with in-plane magnetic anisotropy (IMA) magnets). The latter feature leads to a compact access transistor-less memory array design. We experimentally measure the gate controllability of the current as well as the nonlocal resistance associated with VSH effect. Based on the measured data, we develop a simulation framework (using physical equations) to propose and analyze single-ended and differential VSH effect based magnetic memories (VSH-MRAM and DVSH-MRAM, respectively). At the array level, the proposed VSH/DVSH-MRAMs achieve 50%/ 11% lower write time, 59%/ 67% lower write energy and 35%/ 41% lower read energy at iso-sense margin, compared to single ended/differential (GSH/DGSH)-MRAMs. System level evaluation in the context of general purpose processor and intermittently-powered system shows up to 3.14X and 1.98X better energy efficiency for the proposed (D)VSH-MRAMs over (D)GSH-MRAMs respectively. Further, the differential sensing of the proposed DVSH-MRAM leads to natural and simultaneous in-memory computation of bit-wise AND and NOR logic functions. Using this feature, we design a computation-in-memory (CiM) architecture that performs Boolean logic and addition (ADD) with a single array access. System analysis performed by integrating our DVSH-MRAM: CiM in the Nios II processor across various application benchmarks shows up to 2.66X total energy savings, compared to DGSH-MRAM: CiM.

cs.ET↗

SparCE: Sparsity aware General Purpose Core Extensions to Accelerate Deep Neural Networks

Deep Neural Networks (DNNs) have emerged as the method of choice for solving a wide range of machine learning tasks. The enormous computational demands posed by DNNs have most commonly been addressed through the design of custom accelerators. However, these accelerators are prohibitive in many design scenarios (e.g., wearable devices and IoT sensors), due to stringent area/cost constraints. Accelerating DNNs on these low-power systems, comprising of mainly the general-purpose processor (GPP) cores, requires new approaches. We improve the performance of DNNs on GPPs by exploiting a key attribute of DNNs, i.e., sparsity. We propose Sparsity aware Core Extensions (SparCE)- a set of micro-architectural and ISA extensions that leverage sparsity and are minimally intrusive and low-overhead. We dynamically detect zero operands and skip a set of future instructions that use it. Our design ensures that the instructions to be skipped are prevented from even being fetched, as squashing instructions comes with a penalty. SparCE consists of 2 key micro-architectural enhancements- a Sparsity Register File (SpRF) that tracks zero registers and a Sparsity aware Skip Address (SASA) table that indicates instructions to be skipped. When an instruction is fetched, SparCE dynamically pre-identifies whether the following instruction(s) can be skipped and appropriately modifies the program counter, thereby skipping the redundant instructions and improving performance. We model SparCE using the gem5 architectural simulator, and evaluate our approach on 6 image-recognition DNNs in the context of both training and inference using the Caffe framework. On a scalar microprocessor, SparCE achieves 19%-31% reduction in application-level. We also evaluate SparCE on a 4-way SIMD ARMv8 processor using the OpenBLAS library, and demonstrate that SparCE achieves 8%-15% reduction in the application-level execution time.

cs.DC↗

Computing in Memory with Spin-Transfer Torque Magnetic RAM

In-memory computing is a promising approach to addressing the processor-memory data transfer bottleneck in computing systems. We propose Spin-Transfer Torque Compute-in-Memory (STT-CiM), a design for in-memory computing with Spin-Transfer Torque Magnetic RAM (STT-MRAM). The unique properties of spintronic memory allow multiple wordlines within an array to be simultaneously enabled, opening up the possibility of directly sensing functions of the values stored in multiple rows using a single access. We propose modifications to STT-MRAM peripheral circuits that leverage this principle to perform logic, arithmetic, and complex vector operations. We address the challenge of reliable in-memory computing under process variations by extending ECC schemes to detect and correct errors that occur during CiM operations. We also address the question of how STT-CiM should be integrated within a general-purpose computing system. To this end, we propose architectural enhancements to processor instruction sets and on-chip buses that enable STT-CiM to be utilized as a scratchpad memory. Finally, we present data mapping techniques to increase the effectiveness of STT-CiM. We evaluate STT-CiM using a device-to-architecture modeling framework, and integrate cycle-accurate models of STT-CiM with a commercial processor and on-chip bus (Nios II and Avalon from Intel). Our system-level evaluation shows that STT-CiM provides system-level performance improvements of 3.93x on average (upto 10.4x), and concurrently reduces memory system energy by 3.83x on average (upto 12.4x).

cs.ET↗

Recognizing Textures with Mobile Cameras for Pedestrian Safety Applications

As smartphone rooted distractions become commonplace, the lack of compelling safety measures has led to a rise in the number of injuries to distracted walkers. Various solutions address this problem by sensing a pedestrian's walking environment. Existing camera-based approaches have been largely limited to obstacle detection and other forms of object detection. Instead, we present TerraFirma, an approach that performs material recognition on the pedestrian's walking surface. We explore, first, how well commercial off-the-shelf smartphone cameras can learn texture to distinguish among paving materials in uncontrolled outdoor urban settings. Second, we aim at identifying when a distracted user is about to enter the street, which can be used to support safety functions such as warning the user to be cautious. To this end, we gather a unique dataset of street/sidewalk imagery from a pedestrian's perspective, that spans major cities like New York, Paris, and London. We demonstrate that modern phone cameras can be enabled to distinguish materials of walking surfaces in urban areas with more than 90% accuracy, and accurately identify when pedestrians transition from sidewalk to street.

cs.CV↗