arXiv subjects

Tom Richardson

Publications and source records attributed to Tom Richardson.

14 recordsLinked to original sources

arXiv2025

WildLive: Near Real-time Visual Wildlife Tracking onboard UAVs

Live tracking of wildlife via high-resolution video processing directly onboard drones is widely unexplored and most existing solutions rely on streaming video to ground stations to support navigation. Yet, both autonomous animal-reactive flight control beyond visual line of sight and/or mission-specific individual and behaviour recognition tasks rely to some degree on this capability. In response, we introduce WildLive - a near real-time animal detection and tracking framework for high-resolution imagery running directly onboard uncrewed aerial vehicles (UAVs). The system performs multi-animal detection and tracking at 17.81fps for HD and 7.53fps on 4K video streams suitable for operation during higher altitude flights to minimise animal disturbance. Our system is optimised for Jetson Orin AGX onboard hardware. It integrates the efficiency of sparse optical flow tracking and mission-specific sampling with device-optimised and proven YOLO-driven object detection and segmentation techniques. Essentially, computational resource is focused onto spatio-temporal regions of high uncertainty to significantly improve UAV processing speeds. Alongside, we introduce our WildLive dataset, which comprises 200K+ annotated animal instances across 19K+ frames from 4K UAV videos collected at the Ol Pejeta Conservancy in Kenya. All frames contain ground truth bounding boxes, segmentation masks, as well as individual tracklets and tracking point trajectories. We compare our system against current object tracking approaches including OC-SORT, ByteTrack, and SORT. Our multi-animal tracking experiments with onboard hardware confirm that near real-time high-resolution wildlife tracking is possible on UAVs whilst maintaining high accuracy levels as needed for future navigational and mission-specific animal-centric operational autonomy. Our materials are available at: https://dat-nguyenvn.github.io/WildLive/

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arXiv2017

Displacement Convexity in Spatially Coupled Scalar Recursions

We introduce a technique for the analysis of general spatially coupled systems that are governed by scalar recursions. Such systems can be expressed in variational form in terms of a potential functional. We show, under mild conditions, that the potential functional is \emph{displacement convex} and that the minimizers are given by the fixed points of the recursions. Furthermore, we give the conditions on the system such that the minimizing fixed point is unique up to translation along the spatial direction. The condition matches those in \cite{KRU12} for the existence of spatial fixed points. \emph{Displacement convexity} applies to a wide range of spatially coupled recursions appearing in coding theory, compressive sensing, random constraint satisfaction problems, as well as statistical mechanical models. We illustrate it with applications to Low-Density Parity-Check and generalized LDPC codes used for transmission on the binary erasure channel, or general binary memoryless symmetric channels within the Gaussian reciprocal channel approximation, as well as compressive sensing.

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arXiv2017

Analysis of Coupled Scalar Systems by Displacement Convexity

Potential functionals have been introduced recently as an important tool for the analysis of coupled scalar systems (e.g. density evolution equations). In this contribution, we investigate interesting properties of this potential. Using the tool of displacement convexity, we show that, under mild assumptions on the system, the potential functional is displacement convex. Furthermore, we give the conditions on the system such that the potential is strictly displacement convex, in which case the minimizer is unique.

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arXiv2016

Secure Content Distribution in Vehicular Networks

Dedicated short range communication (DSRC) relies on secure distribution to vehicles of a certificate revocation list (CRL) for enabling security protocols. CRL distribution utilizing vehicle-to-vehicle (V2V) communications is preferred to an infrastructure-only approach. One approach to V2V CRL distribution, using rateless coding at the source and forwarding at vehicle relays is vulnerable to a pollution attack in which a few malicious vehicles forward incorrect packets which then spread through the network leading to denial-of-service. This paper develops a new scheme called Precode-and-Hash that enables efficient packet verification before forwarding thereby preventing the pollution attack. In contrast to rateless codes, it utilizes a fixed low-rate precode and random selection of packets from the set of precoded packets. The fixed precode admits efficient hash verification of all encoded packets. Specifically, hashes are computed for all precoded packets and sent securely using signatures. We analyze the performance of the Precode-and-Hash scheme for a multi-hop line network and provide simulation results for several schemes in a more realistic vehicular model.

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arXiv2014

Analysis of Saturated Belief Propagation Decoding of Low-Density Parity-Check Codes

We consider the effect of log-likelihood ratio saturation on belief propagation decoder low-density parity-check codes. Saturation is commonly done in practice and is known to have a significant effect on error floor performance. Our focus is on threshold analysis and stability of density evolution. We analyze the decoder for standard low-density parity-check code ensembles and show that belief propagation decoding generally degrades gracefully with saturation. Stability of density evolution is, on the other hand, rather strongly effected by saturation and the asymptotic qualitative effect of saturation is similar to reduction by one of variable node degree. We also show under what conditions the block threshold for the saturated belief propagation corresponds with the bit threshold.

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arXiv2014

Wave-Like Solutions of General One-Dimensional Spatially Coupled Systems

We establish the existence of wave-like solutions to spatially coupled graphical models which, in the large size limit, can be characterized by a one-dimensional real-valued state. This is extended to a proof of the threshold saturation phenomenon for all such models, which includes spatially coupled irregular LDPC codes over the BEC, but also addresses hard-decision decoding for transmission over general channels, the CDMA multiple-access problem, compressed sensing, and some statistical physics models. For traditional uncoupled iterative coding systems with two components and transmission over the BEC, the asymptotic convergence behavior is completely characterized by the EXIT curves of the components. More precisely, the system converges to the desired fixed point, which is the one corresponding to perfect decoding, if and only if the two EXIT functions describing the components do not cross. For spatially coupled systems whose state is one-dimensional a closely related graphical criterion applies. Now the curves are allowed to cross, but not by too much. More precisely, we show that the threshold saturation phenomenon is related to the positivity of the (signed) area enclosed by two EXIT-like functions associated to the component systems, a very intuitive and easy-to-use graphical characterization. In the spirit of EXIT functions and Gaussian approximations, we also show how to apply the technique to higher dimensional and even infinite-dimensional cases. In these scenarios the method is no longer rigorous, but it typically gives accurate predictions. To demonstrate this application, we discuss transmission over general channels using both the belief-propagation as well as the min-sum decoder.

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arXiv2014

The Effect of Saturation on Belief Propagation Decoding of LDPC Codes

We consider the effect of LLR saturation on belief propagation decoding of low-density parity-check codes. Saturation occurs universally in practice and is known to have a significant effect on error floor performance. Our focus is on threshold analysis and stability of density evolution. We analyze the decoder for certain low-density parity-check code ensembles and show that belief propagation decoding generally degrades gracefully with saturation. Stability of density evolution is, on the other hand, rather strongly affected by saturation and the asymptotic qualitative effect of saturation is similar to reduction of variable node degree by one.

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arXiv2012

Spatially Coupled Ensembles Universally Achieve Capacity under Belief Propagation

We investigate spatially coupled code ensembles. For transmission over the binary erasure channel, it was recently shown that spatial coupling increases the belief propagation threshold of the ensemble to essentially the maximum a-priori threshold of the underlying component ensemble. This explains why convolutional LDPC ensembles, originally introduced by Felstrom and Zigangirov, perform so well over this channel. We show that the equivalent result holds true for transmission over general binary-input memoryless output-symmetric channels. More precisely, given a desired error probability and a gap to capacity, we can construct a spatially coupled ensemble which fulfills these constraints universally on this class of channels under belief propagation decoding. In fact, most codes in that ensemble have that property. The quantifier universal refers to the single ensemble/code which is good for all channels but we assume that the channel is known at the receiver. The key technical result is a proof that under belief propagation decoding spatially coupled ensembles achieve essentially the area threshold of the underlying uncoupled ensemble. We conclude by discussing some interesting open problems.

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arXiv2010

Threshold Saturation via Spatial Coupling: Why Convolutional LDPC Ensembles Perform so well over the BEC

Convolutional LDPC ensembles, introduced by Felstrom and Zigangirov, have excellent thresholds and these thresholds are rapidly increasing as a function of the average degree. Several variations on the basic theme have been proposed to date, all of which share the good performance characteristics of convolutional LDPC ensembles. We describe the fundamental mechanism which explains why "convolutional-like" or "spatially coupled" codes perform so well. In essence, the spatial coupling of the individual code structure has the effect of increasing the belief-propagation (BP) threshold of the new ensemble to its maximum possible value, namely the maximum-a-posteriori (MAP) threshold of the underlying ensemble. For this reason we call this phenomenon "threshold saturation." This gives an entirely new way of approaching capacity. One significant advantage of such a construction is that one can create capacity-approaching ensembles with an error correcting radius which is increasing in the blocklength. Our proof makes use of the area theorem of the BP-EXIT curve and the connection between the MAP and BP threshold recently pointed out by Measson, Montanari, Richardson, and Urbanke. Although we prove the connection between the MAP and the BP threshold only for a very specific ensemble and only for the binary erasure channel, empirically a threshold saturation phenomenon occurs for a wide class of ensembles and channels. More generally, we conjecture that for a large range of graphical systems a similar saturation of the "dynamical" threshold occurs once individual components are coupled sufficiently strongly. This might give rise to improved algorithms as well as to new techniques for analysis.

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arXiv2010

Threshold Saturation on BMS Channels via Spatial Coupling

We consider spatially coupled code ensembles. A particular instance are convolutional LDPC ensembles. It was recently shown that, for transmission over the binary erasure channel, this coupling increases the belief propagation threshold of the ensemble to the maximum a-priori threshold of the underlying component ensemble. We report on empirical evidence which suggest that the same phenomenon also occurs when transmission takes place over a general binary memoryless symmetric channel. This is confirmed both by simulations as well as by computing EBP GEXIT curves and by comparing the empirical BP thresholds of coupled ensembles to the empirically determined MAP thresholds of the underlying regular ensembles. We further consider ways of reducing the rate-loss incurred by such constructions.

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arXiv2005

The Generalized Area Theorem and Some of its Consequences

There is a fundamental relationship between belief propagation and maximum a posteriori decoding. The case of transmission over the binary erasure channel was investigated in detail in a companion paper. This paper investigates the extension to general memoryless channels (paying special attention to the binary case). An area theorem for transmission over general memoryless channels is introduced and some of its many consequences are discussed. We show that this area theorem gives rise to an upper-bound on the maximum a posteriori threshold for sparse graph codes. In situations where this bound is tight, the extrinsic soft bit estimates delivered by the belief propagation decoder coincide with the correct a posteriori probabilities above the maximum a posteriori threshold. More generally, it is conjectured that the fundamental relationship between the maximum a posteriori and the belief propagation decoder which was observed for transmission over the binary erasure channel carries over to the general case. We finally demonstrate that in order for the design rate of an ensemble to approach the capacity under belief propagation decoding the component codes have to be perfectly matched, a statement which is well known for the special case of transmission over the binary erasure channel.

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arXiv2004

Life Above Threshold: From List Decoding to Area Theorem and MSE

We consider communication over memoryless channels using low-density parity-check code ensembles above the iterative (belief propagation) threshold. What is the computational complexity of decoding (i.e., of reconstructing all the typical input codewords for a given channel output) in this regime? We define an algorithm accomplishing this task and analyze its typical performance. The behavior of the new algorithm can be expressed in purely information-theoretical terms. Its analysis provides an alternative proof of the area theorem for the binary erasure channel. Finally, we explain how the area theorem is generalized to arbitrary memoryless channels. We note that the recently discovered relation between mutual information and minimal square error is an instance of the area theorem in the setting of Gaussian channels.

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arXiv2004

Finite-Length Scaling and Finite-Length Shift for Low-Density Parity-Check Codes

Consider communication over the binary erasure channel BEC using random low-density parity-check codes with finite-blocklength n from `standard' ensembles. We show that large error events is conveniently described within a scaling theory, and explain how to estimate heuristically their effect. Among other quantities, we consider the finite length threshold e(n), defined by requiring a block error probability P_B = 1/2. For ensembles with minimum variable degree larger than two, the following expression is argued to hold e(n) = e -e_1 n^{-2/3} +Θ(n^{-1}) with a calculable shift} parameter e_1>0.

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arXiv2004

Finite-Length Scaling for Iteratively Decoded LDPC Ensembles

In this paper we investigate the behavior of iteratively decoded low-density parity-check codes over the binary erasure channel in the so-called ``waterfall region." We show that the performance curves in this region follow a very basic scaling law. We conjecture that essentially the same scaling behavior applies in a much more general setting and we provide some empirical evidence to support this conjecture. The scaling law, together with the error floor expressions developed previously, can be used for fast finite-length optimization.

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