Real-time dense computer vision and SLAM offer great potential for a new level of scene modelling, tracking and real environmental interaction for many types of robot, but their high computational requirements mean that use on mass market embedded platforms is challenging. Meanwhile, trends in low-cost, low-power processing are towards massive parallelism and heterogeneity, making it difficult for robotics and vision researchers to implement their algorithms in a performance-portable way. In this paper we introduce SLAMBench, a publicly-available software framework which represents a starting point for quantitative, comparable and validatable experimental research to investigate trade-offs in performance, accuracy and energy consumption of a dense RGB-D SLAM system. SLAMBench provides a KinectFusion implementation in C++, OpenMP, OpenCL and CUDA, and harnesses the ICL-NUIM dataset of synthetic RGB-D sequences with trajectory and scene ground truth for reliable accuracy comparison of different implementation and algorithms. We present an analysis and breakdown of the constituent algorithmic elements of KinectFusion, and experimentally investigate their execution time on a variety of multicore and GPU-accelerated platforms. For a popular embedded platform, we also present an analysis of energy efficiency for different configuration alternatives.
Another attempt at such performance evaluation is MEVBench @cite_27 , which focuses on a set of visual recognition applications including face detection, feature classification, object tracking and feature extraction. It provides single and multithreaded C++ implementations for some of the kernels with a special emphasis on low-power embedded systems. However, MEVBench only focuses on recognition algorithms and does not include a SLAM pipeline.
@cite_27
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The growth in mobile vision applications, coupled with the performance limitations of mobile platforms, has led to a growing need to understand computer vision applications. Computationally intensive mobile vision applications, such as augmented reality or object recognition, place significant performance and power demands on existing embedded platforms, often leading to degraded application quality. With a better understanding of this growing application space, it will be possible to more effectively optimize future embedded platforms. In this work, we introduce and evaluate a custom benchmark suite for mobile embedded vision applications named MEVBench. MEVBench provides a wide range of mobile vision applications such as face detection, feature classification, object tracking and feature extraction. To better understand mobile vision processing characteristics at the architectural level, we analyze single and multithread implementations of many algorithms to evaluate performance, scalability, and memory characteristics. We provide insights into the major areas where architecture can improve the performance of these applications in embedded systems. Visual concept detection and action recognition are one of the most important tasks in content-based multimedia information retrieval (CBMIR) technology. It aims at annotating images using a vocabulary defined by a set of concepts of interest including scenes types (mountains, snow, etc.) or human actions (phoning, playing instrument). This paper describes our system in the ImageCLEF@ICPR10, Pascal VOC 08 Visual Concept Detection and Pascal VOC 10 Action Recognition Challenges. The proposed system ranked first in these large-scale tasks when evaluated independently by the organizers. The proposed system involves state-of-the-art local descriptor computation, vector quantization via clustering, structured scene or object representation via localized histograms of vector codes, similarity measure for kernel construction and classifier learning. The main novelty is the classifier-level and kernel-level fusion using Kernel Discriminant Analysis and Spectral Regression (SR-KDA) with RBF Chi-Squared kernels obtained from various image descriptors. The distinctiveness of the proposed method is also assessed experimentally using a video benchmark: the Mediamill Challenge along with benchmarks from ImageCLEF@ICPR10, Pascal VOC 10 and Pascal VOC 08. From the experimental results, it can be derived that the presented system consistently yields significant performance gains when compared with the state-of-the art methods. The other strong point is the introduction of SR-KDA in the classification stage where the time complexity scales linearly with respect to the number of concepts and the main computational complexity is independent of the number of categories. We describe a cascaded method for object detection. This approach uses a novel organization of the first cascade stage called "feature-centric" evaluation which re-uses feature evaluations across multiple candidate windows. We minimize the cost of this evaluation through several simplifications: (1) localized lighting normalization, (2) representation of the classifier as an additive model and (3) discrete-valued features. Such a method also incorporates a unique feature representation. The early stages in the cascade use simple fast feature evaluations and the later stages use more complex discriminative features. In particular, we propose features based on sparse coding and ordinal relationships among filter responses. This combination of cascaded feature-centric evaluation with features of increasing complexity achieves both computational efficiency and accuracy. We describe object detection experiments on ten objects including faces and automobiles. These results include 97 recognition at equal error rate on the UIUC image database for car detection. Making recognition more reliable under uncontrolled lighting conditions is one of the most important challenges for practical face recognition systems. We tackle this by combining the strengths of robust illumination normalization, local texture-based face representations, distance transform based matching, kernel-based feature extraction and multiple feature fusion. Specifically, we make three main contributions: 1) we present a simple and efficient preprocessing chain that eliminates most of the effects of changing illumination while still preserving the essential appearance details that are needed for recognition; 2) we introduce local ternary patterns (LTP), a generalization of the local binary pattern (LBP) local texture descriptor that is more discriminant and less sensitive to noise in uniform regions, and we show that replacing comparisons based on local spatial histograms with a distance transform based similarity metric further improves the performance of LBP LTP based face recognition; and 3) we further improve robustness by adding Kernel principal component analysis (PCA) feature extraction and incorporating rich local appearance cues from two complementary sources-Gabor wavelets and LBP-showing that the combination is considerably more accurate than either feature set alone. The resulting method provides state-of-the-art performance on three data sets that are widely used for testing recognition under difficult illumination conditions: Extended Yale-B, CAS-PEAL-R1, and Face Recognition Grand Challenge version 2 experiment 4 (FRGC-204). For example, on the challenging FRGC-204 data set it halves the error rate relative to previously published methods, achieving a face verification rate of 88.1 at 0.1 false accept rate. Further experiments show that our preprocessing method outperforms several existing preprocessors for a range of feature sets, data sets and lighting conditions.