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Convolutional neural networks (CNNs) are becoming increasingly deeper, wider, and non-linear because of the growing demand on prediction accuracy and analysis quality. The wide and deep CNNs, however, require a large amount of computing…

The backpropagation algorithm remains the dominant and most successful method for training deep neural networks (DNNs). At the same time, training DNNs at scale comes at a significant computational cost and therefore a high carbon…

Depth is a vital piece of information for autonomous vehicles to perceive obstacles. Due to the relatively low price and small size of monocular cameras, depth estimation from a single RGB image has attracted great interest in the research…

Deep neural networks, albeit their great success on feature learning in various computer vision tasks, are usually considered as impractical for online visual tracking because they require very long training time and a large number of…

Estimating depth from a monocular image is an ill-posed problem: when the camera projects a 3D scene onto a 2D plane, depth information is inherently and permanently lost. Nevertheless, recent work has shown impressive results in estimating…

Deep neural networks (DNNs) have shown their success as high-dimensional function approximators in many applications; however, training DNNs can be challenging in general. DNN training is commonly phrased as a stochastic optimization…

The most common method for DNN pruning is hard thresholding of network weights, followed by retraining to recover any lost accuracy. Recently developed smart pruning algorithms use the DNN response over the training set for a variety of…

Monocular depth estimation, which plays a crucial role in understanding 3D scene geometry, is an ill-posed problem. Recent methods have gained significant improvement by exploring image-level information and hierarchical features from deep…

Recent breakthroughs in deep neural networks (DNNs) have fueled a tremendous demand for intelligent edge devices featuring on-site learning, while the practical realization of such systems remains a challenge due to the limited resources…

State-of-the-art convolutional neural networks (CNNs) used in vision applications have large models with numerous weights. Training these models is very compute- and memory-resource intensive. Much research has been done on pruning or…

In this work we address the task of observing the performance of a semantic segmentation deep neural network (DNN) during online operation, i.e., during inference, which is of high importance in safety-critical applications such as…

Depth information is important for autonomous systems to perceive environments and estimate their own state. Traditional depth estimation methods, like structure from motion and stereo vision matching, are built on feature correspondences…

We introduce a DNN training technique that learns only a fraction of the full parameter set without incurring an accuracy penalty. To do this, our algorithm constrains the total number of weights updated during backpropagation to those with…

Binary Neural Networks (BNNs) show promising progress in reducing computational and memory costs but suffer from substantial accuracy degradation compared to their real-valued counterparts on large-scale datasets, e.g., ImageNet. Previous…

The choice of learning rate (LR) functions and policies has evolved from a simple fixed LR to the decaying LR and the cyclic LR, aiming to improve the accuracy and reduce the training time of Deep Neural Networks (DNNs). This paper presents…

Systematic techniques to improve quality of deep neural networks (DNNs) are critical given the increasing demand for practical applications including safety-critical ones. The key challenge comes from the little controllability in updating…

Low precision deep neural network (DNN) training is one of the most effective techniques for boosting DNNs' training efficiency, as it trims down the training cost from the finest bit level. While existing works mostly fix the model…

Trajectory tracking control for quadrotors is important for applications ranging from surveying and inspection, to film making. However, designing and tuning classical controllers, such as proportional-integral-derivative (PID) controllers,…

Low-precision deep neural network (DNN) training has gained tremendous attention as reducing precision is one of the most effective knobs for boosting DNNs' training time/energy efficiency. In this paper, we attempt to explore low-precision…

Monocular depth estimation and image deblurring are two fundamental tasks in computer vision, given their crucial role in understanding 3D scenes. Performing any of them by relying on a single image is an ill-posed problem. The recent…