[Colloquium] Reminder: Li/MS Presentation/Jun 23, 2016

[Margaret Jaffey]

This is a reminder about Yun's MS Presentation on Thursday.

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Date:  Thursday, June 23, 2016

Time:  11:00 AM

Place:  Ryerson 277

M.S. Candidate:  Yun Li

M.S. Paper Title: An Analytical Performance Model for Simultaneous
Localization and Mapping

Abstract:
The emergence of commodity depth sensors provides rich depth data for
mobile devices to achieving Simultaneously Tracking and Mapping (SLAM)
to enable applications like VR or AR. However, the limited computation
resources on mobile devices are the bottleneck to guide spread and
flexible use. This paper provides an analytical model for the
computational cost for SLAM algorithm. We modeled the total number of
instructions required for each kernel based on the input depth data
resolution, the volume resolution, and scene dependent information. To
validate the model, we ran SLAM with both the publicly available
ICL_NUIM noise-free dataset and data we collected with a Kinect V2. We
varied the frame rate, depth resolution, and volume resolution to test
different configurations. Compared with the baseline measured, the
model matches actual measurement with an error within 10%. In
addition, we propose Distributed SLAM framework (DSLAM), which allows
different computation kernels of SLAM to be processed by different
devices in a pipelined fashion, so as to lower the computation
requirement of a single device. We also analyzed data communication
between each kernel and identified the communication bottleneck – the
volume data transferred between the integration stage and the
raycasting stage. We solve the problem by sending updated voxels
instead of the whole volume data, which reduce volume data
communication by around 90%. We think the analytical model is a
possible tool to enable intelligent distribute of SLAM elements to
available devices to maximize flexibility and performance,
particularly battery life.

Yun's advisor is Prof. Andrew Chien

Login to the Computer Science Department website for details:
 https://www.cs.uchicago.edu/phd/ms_announcements#yunli

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Margaret P. Jaffey            margaret at cs.uchicago.edu
Department of Computer Science
Student Support Rep (Ry 156)               (773) 702-6011
The University of Chicago      http://www.cs.uchicago.edu
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