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The described works have been carried out in the framework of a mid-term study initiated by the Centre Electronique de l'Armement, then by an advanced study launched by the Direction de la Recherche et des Etudes Technologiques in France in…
Face analysis techniques have become a crucial component of human-machine interaction in the fields of assistive and humanoid robotics. However, the variations in head-pose that arise naturally in these environments are still a great…
The problem of Cortical Surface Reconstruction from magnetic resonance imaging has been traditionally addressed using lengthy pipelines of image processing techniques like FreeSurfer, CAT, or CIVET. These frameworks require very long…
Developing robotic manipulation policies is iterative and hypothesis-driven: researchers test tactile sensing, gripper geometries, and sensor placements through real-world data collection and training. Yet even minor end-effector changes…
Quantum computers are expected to scale in size to close the gap that currently exists between quantum algorithms and quantum hardware. To this end, quantum compilation techniques must scale along with the hardware constraints, shifting the…
Adopting FPGA as an accelerator in datacenters is becoming mainstream for customized computing, but the fact that FPGAs are hard to program creates a steep learning curve for software programmers. Even with the help of high-level synthesis…
The widespread adoption of on-board volumetric imaging in cancer radiotherapy has stimulated research efforts to develop online adaptive radiotherapy techniques to handle the inter-fraction variation of the patient's geometry. Such efforts…
This paper presents a GPU-accelerated implementation of two-dimensional Smart Laplacian smoothing. This implementation is developed under the guideline of our paradigm for accelerating Laplacianbased mesh smoothing [13]. Two types of…
Randomized methods such as PRM and RRT are widely used in motion planning. However, in some cases, their running-time suffers from inherent instability, leading to ``catastrophic'' performance even for relatively simple instances. We apply…
Interventional C-arm systems allow flexible 2-D imaging of a 3-D scene while being capable of cone beam computed tomography. Due to the flexible structure of the C-arm, the rotation speed is limited, increasing the acquisition time compared…
We introduce an approach for the real-time (2Hz) creation of a dense map and alignment of a moving robotic agent within that map by rendering using a Graphics Processing Unit (GPU). This is done by recasting the scan alignment part of the…
In computer science, transforming spherical coordinates into Cartesian coordinates is an important mathematical operation. The CORDIC (Coordinate Rotation Digital Computer) iterative algorithm can perform this operation, as well as…
Modular reconfigurable manipulators enable quick adaptation and versatility to address different application environments and tailor to the specific requirements of the tasks. Task performance significantly depends on the manipulator's…
Motion planning in modified environments is a challenging task, as it compounds the innate difficulty of the motion planning problem with a changing environment. This renders some algorithmic methods such as probabilistic roadmaps less…
The irregular nature of memory accesses of graph workloads makes their performance poor on modern computing platforms. On manycore reconfigurable architectures (MRAs), in particular, even state-of-the-art graph prefetchers do not work well…
High Performance Computing (HPC) platforms allow scientists to model computationally intensive algorithms. HPC clusters increasingly use General-Purpose Graphics Processing Units (GPGPUs) as accelerators; FPGAs provide an attractive…
The digitization of biological specimens has revolutionized the field of morphology, creating large collections of 3D data, and microCT in particular. This revolution was initially supported by the development of open-source software tools,…
We present a new parallel algorithm for probabilistic graphical model optimization. The algorithm relies on data-parallel primitives (DPPs), which provide portable performance over hardware architecture. We evaluate results on CPUs and GPUs…
Due to its flexible architecture, FPGAs support unique, deep hardware pipeline implementations for accelerating HPC applications. However, these devices are quite new in the HPC space, and thus, have been scarcely explored outside some…
Small animal PET scanners require high spatial resolution and good sensitivity. To reconstruct high-resolution images in 3D-PET, iterative methods, such as OSEM, are superior to analytical reconstruction algorithms, although their high…