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1. APT: Adaptive Perceptual quality based camera Tuning using reinforcement learning

   https://doi.org/10.1109/IOTSMS58070.2022.10062226  

   Paul, Sibendu ; Rao, Kunal ; Coviello, Giuseppe ; Sankaradas, Murugan ; Po, Oliver ; Hu, Y. Charlie ; Chakradhar, Srimat ( November 2022 , Proc. of 9th International Conference on Internet of Things: Systems, Management and Security (IOTSMS 2022))

   Cameras are increasingly being deployed in cities, enterprises and roads world-wide to enable many applications in public safety, intelligent transportation, retail, healthcare and manufacturing. Often, after initial deployment of the cameras, the environmental conditions and the scenes around these cameras change, and our experiments show that these changes can adversely impact the accuracy of insights from video analytics. This is because the camera parameter settings, though optimal at deployment time, are not the best settings for good-quality video capture as the environmental conditions and scenes around a camera change during operation. Capturing poor-quality video adversely affects the accuracy of analytics. To mitigate the loss in accuracy of insights, we propose a novel, reinforcement-learning based system APT that dynamically, and remotely (over 5G networks), tunes the camera parameters, to ensure a high-quality video capture, which mitigates any loss in accuracy of video analytics. As a result, such tuning restores the accuracy of insights when environmental conditions or scene content change. APT uses reinforcement learning, with no-reference perceptual quality estimation as the reward function. We conducted extensive real-world experiments, where we simultaneously deployed two cameras side-by-side overlooking an enterprise parking lot (one camera only has manufacturer-suggested default setting, while the other cameramore »is dynamically tuned by APT during operation). Our experiments demonstrated that due to dynamic tuning by APT, the analytics insights are consistently better at all times of the day: the accuracy of object detection video analytics application was improved on average by ∼ 42%. Since our reward function is independent of any analytics task, APT can be readily used for different video analytics tasks.« less
2. EyeCoD: eye tracking system acceleration via flatcam-based algorithm & accelerator co-design

   https://doi.org/10.1145/3470496.3527443  

   You, Haoran ; Wan, Cheng ; Zhao, Yang ; Yu, Zhongzhi ; Fu, Yonggan ; Yuan, Jiayi ; Wu, Shang ; Zhang, Shunyao ; Zhang, Yongan ; Li, Chaojian ; et al ( June 2022 , ISCA '22: Proceedings of the 49th Annual International Symposium on Computer Architecture)

   Eye tracking has become an essential human-machine interaction modality for providing immersive experience in numerous virtual and augmented reality (VR/AR) applications desiring high throughput (e.g., 240 FPS), small-form, and enhanced visual privacy. However, existing eye tracking systems are still limited by their: (1) large form-factor largely due to the adopted bulky lens-based cameras; (2) high communication cost required between the camera and backend processor; and (3) potentially concerned low visual privacy, thus prohibiting their more extensive applications. To this end, we propose, develop, and validate a lensless FlatCambased eye tracking algorithm and accelerator co-design framework dubbed EyeCoD to enable eye tracking systems with a much reduced form-factor and boosted system efficiency without sacrificing the tracking accuracy, paving the way for next-generation eye tracking solutions. On the system level, we advocate the use of lensless FlatCams instead of lens-based cameras to facilitate the small form-factor need in mobile eye tracking systems, which also leaves rooms for a dedicated sensing-processor co-design to reduce the required camera-processor communication latency. On the algorithm level, EyeCoD integrates a predict-then-focus pipeline that first predicts the region-of-interest (ROI) via segmentation and then only focuses on the ROI parts to estimate gaze directions, greatly reducing redundant computations andmore »data movements. On the hardware level, we further develop a dedicated accelerator that (1) integrates a novel workload orchestration between the aforementioned segmentation and gaze estimation models, (2) leverages intra-channel reuse opportunities for depth-wise layers, (3) utilizes input feature-wise partition to save activation memory size, and (4) develops a sequential-write-parallel-read input buffer to alleviate the bandwidth requirement for the activation global buffer. On-silicon measurement and extensive experiments validate that our EyeCoD consistently reduces both the communication and computation costs, leading to an overall system speedup of 10.95×, 3.21×, and 12.85× over general computing platforms including CPUs and GPUs, and a prior-art eye tracking processor called CIS-GEP, respectively, while maintaining the tracking accuracy. Codes are available at https://github.com/RICE-EIC/EyeCoD.« less
3. Robotic Grasping of Fully-Occluded Objects using RF Perception

   https://doi.org/10.1109/ICRA48506.2021.9560956  

   Boroushaki, Tara ; Leng, Junshan ; Clester, Ian ; Rodriguez, Alberto ; Adib, Fadel ( May 2021 , 2021 IEEE International Conference on Robotics and Automation (ICRA))

   We present the design, implementation, and evaluation of RF-Grasp, a robotic system that can grasp fully-occluded objects in unknown and unstructured environments. Unlike prior systems that are constrained by the line-of-sight perception of vision and infrared sensors, RF-Grasp employs RF (Radio Frequency) perception to identify and locate target objects through occlusions, and perform efficient exploration and complex manipulation tasks in non-line-of-sight settings.RF-Grasp relies on an eye-in-hand camera and batteryless RFID tags attached to objects of interest. It introduces two main innovations: (1) an RF-visual servoing controller that uses the RFID’s location to selectively explore the environment and plan an efficient trajectory toward an occluded target, and (2) an RF-visual deep reinforcement learning network that can learn and execute efficient, complex policies for decluttering and grasping.We implemented and evaluated an end-to-end physical prototype of RF-Grasp. We demonstrate it improves success rate and efficiency by up to 40-50% over a state-of-the-art baseline. We also demonstrate RF-Grasp in novel tasks such mechanical search of fully-occluded objects behind obstacles, opening up new possibilities for robotic manipulation. Qualitative results (videos) available at rfgrasp.media.mit.edu
4. i-FlatCam: A 253 FPS, 91.49 µJ/Frame Ultra-Compact Intelligent Lensless Camera for Real-Time and Efficient Eye Tracking in VR/AR

   https://doi.org/10.1109/VLSITechnologyandCir46769.2022.9830458  

   Zhao, Yang ; Li, Ziyun ; Fu, Yonggan ; Zhang, Yongan ; Li, Chaojian ; Wan, Cheng ; You, Haoran ; Wu, Shang ; Ouyang, Xu ; Boominathan, Vivek ; et al ( June 2022 , 2022 Symposium on VLSI Technology & Circuits Digest of Technical Papers)

   We present a first-of-its-kind ultra-compact intelligent camera system, dubbed i-FlatCam, including a lensless camera with a computational (Comp.) chip. It highlights (1) a predict-then-focus eye tracking pipeline for boosted efficiency without compromising the accuracy, (2) a unified compression scheme for single-chip processing and improved frame rate per second (FPS), and (3) dedicated intra-channel reuse design for depth-wise convolutional layers (DW-CONV) to increase utilization. i-FlatCam demonstrates the first eye tracking pipeline with a lensless camera and achieves 3.16 degrees of accuracy, 253 FPS, 91.49 µJ/Frame, and 6.7mm×8.9mm×1.2mm camera form factor, paving the way for next-generation Augmented Reality (AR) and Virtual Reality (VR) devices.
5. Why Is the Video Analytics Accuracy Fluctuating, and What Can We Do About It?

   Sibendu Paul ; Kunal Rao ; Giuseppe Coviello ; Murugan Sankaradas ; Oliver Po ; Y. Charlie Hu ; Srimat Chakradhar ( October 2022 , Lecture notes in computer science)

   It is a common practice to think of a video as a sequence of images (frames), and re-use deep neural network models that are trained only on images for similar analytics tasks on videos. In this paper, we show that this “leap of faith” that deep learning models that work well on images will also work well on videos is actually flawed.We show that even when a video camera is viewing a scene that is not changing in any humanperceptible way, and we control for external factors like video compression and environment (lighting), the accuracy of video analytics application fluctuates noticeably. These fluctuations occur because successive frames produced by the video camera may look similar visually, but are perceived quite differently by the video analytics applications.We observed that the root cause for these fluctuations is the dynamic camera parameter changes that a video camera automatically makes in order to capture and produce a visually pleasing video. The camera inadvertently acts as an “unintentional adversary” because these slight changes in the image pixel values in consecutive frames, as we show, have a noticeably adverse impact on the accuracy of insights from video analytics tasks that re-use image-trained deep learning models. Tomore »address this inadvertent adversarial effect from the camera, we explore the use of transfer learning techniques to improve learning in video analytics tasks through the transfer of knowledge from learning on image analytics tasks. Our experiments with a number of different cameras, and a variety of different video analytics tasks, show that the inadvertent adversarial effect from the camera can be noticeably offset by quickly re-training the deep learning models using transfer learning. In particular, we show that our newly trained Yolov5 model reduces fluctuation in object detection across frames, which leads to better tracking of objects (∼40% fewer mistakes in tracking). Our paper also provides new directions and techniques to mitigate the camera’s adversarial effect on deep learning models used for video analytics applications.« less