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A dynamic occupancy grid map (DOGMa) allows a fast, robust, and complete environment representation for automated vehicles. Dynamic objects in a DOGMa, however, are commonly represented as independent cells while modeled objects with shape…
Memory bandwidth bottleneck is a major challenges in processing machine learning (ML) algorithms. In-memory acceleration has potential to address this problem; however, it needs to address two challenges. First, in-memory accelerator should…
In this paper, we propose and investigate a novel memory architecture for neural networks called Hierarchical Attentive Memory (HAM). It is based on a binary tree with leaves corresponding to memory cells. This allows HAM to perform memory…
The memory demand of virtual machines (VMs) is increasing, while DRAM has limited capacity and high power consumption. Non-volatile memory (NVM) is an alternative to DRAM, but it has high latency and low bandwidth. We observe that the VM…
Autonomous vehicles (AVs) are evolving into mobile computing platforms, equipped with powerful processors and diverse sensors that generate massive heterogeneous data, for example 14 TB per day. Supporting emerging third-party applications…
We give efficient data-oblivious algorithms for several fundamental geometric problems that are relevant to geographic information systems, including planar convex hulls and all-nearest neighbors. Our methods are "data-oblivious" in that…
Non-Volatile Memory (NVM) can deliver higher density and lower cost per bit when compared with DRAM. Its main drawback is that it is slower than DRAM. On the other hand, DRAM has scalability problems due to its cost and energy consumption.…
We propose ORBSLAM-Atlas, a system able to handle an unlimited number of disconnected sub-maps, that includes a robust map merging algorithm able to detect sub-maps with common regions and seamlessly fuse them. The outstanding robustness…
While a lot of work in theoretical computer science has gone into optimizing the runtime and space usage of data structures, such work very often neglects a very important component of modern computers: the cache. In doing so, very often,…
Despite the impressive search rate of one key per clock cycle, the update stage of a random-access-memory-based content-addressable-memory (RAM-based CAM) always suffers high latency. Two primary causes of such latency include: (1) the…
In previous work, the author introduced the B-treap, a uniquely represented B-tree analogue, and proved strong performance guarantees for it. However, the B-treap maintains complex invariants and is very complex to implement. In this paper…
With recent video object segmentation (VOS) benchmarks evolving to challenging scenarios, we revisit a simple but overlooked strategy: restricting the size of memory banks. This diverges from the prevalent practice of expanding memory banks…
The initial location of data in DRAMs is determined and controlled by the 'address-mapping' and even modern memory controllers use a fixed and run-time-agnostic address mapping. On the other hand, the memory access pattern seen at the…
Dynamic path planning must remain reliable in the presence of sensing noise, uncertain localization, and incomplete semantic perception. We propose a practical, implementation-friendly planner that operates on occupancy grids and optionally…
Software managed byte-addressable hybrid memory systems consisting of DRAMs and NVMMs offer a lot of flexibility to design efficient large scale data processing applications. Operating systems (OS) play an important role in enabling the…
On-chip memory (usually based on Static RAMs-SRAMs) are crucial components for various computing devices including heterogeneous devices, e.g., GPUs, FPGAs, ASICs to achieve high performance. Modern workloads such as Deep Neural Networks…
Emerging Non-Volatile Memories (NVMs) are promising contenders for building future memory systems. On the other side, unlike DRAM systems, NVMs can retain data even after power loss and thus enlarge the attack surface. While data encryption…
Non-volatile memory is expected to co-exist or replace DRAM in upcoming architectures. Durable concurrent data structures for non-volatile memories are essential building blocks for constructing adequate software for use with these…
Introducing object-level semantic information into simultaneous localization and mapping (SLAM) system is critical. It not only improves the performance but also enables tasks specified in terms of meaningful objects. This work presents…
Data recovery has long been a focus of the electronics industry for decades by security experts, focusing on hard disk recovery, a type of non-volatile memory. Unfortunately, none of the existing research, neither from academia, industry,…