NDLI: Invasive Computing for robotic vision

Content Provider	IEEE Xplore Digital Library
Author	Paul, J. Stechele, W. Krohnert, M. Asfour, T. Dillmann, R.
Copyright Year	2012
Description	Author affiliation: Institute for Integrated Systems, Technical University of Munich, Germany (Paul, J.; Stechele, W.) \|\| Institute for Anthropmatics, Karlsruhe Institute of Technology, Germany (Krohnert, M.; Asfour, T.; Dillmann, R.)
Abstract	Most robotic vision algorithms are computationally intensive and operate on millions of pixels of real-time video sequences. But they offer a high degree of parallelism that can be exploited through parallel computing techniques like Invasive Computing. But the conventional way of multi-processing alone (with static resource allocation) is not sufficient enough to handle a scenario like robotic maneuver, where processing elements have to be shared between various applications and the computing requirements of such applications may not be known entirely at compile-time. Such static mapping schemes leads to inefficient utilization of resources. At the same time it is difficult to dynamically control and distribute resources among different applications running on a single chip, achieving high resource utilization under high-performance constraints. Invasive Computing obtains more importance under such circumstances, where it offers resource awareness to the application programs so that they can adapt themselves to the changing conditions, at run-time. In this paper we demonstrate the resource aware and self-organizing behavior of invasive applications using three widely used applications from the area of robotic vision - Optical Flow, Object Recognition and Disparity Map Computation. The applications can dynamically acquire and release hardware resources, considering the level of parallelism available in the algorithm and time-varying load.
Starting Page	207
Ending Page	212
File Size	194693
Page Count	6
File Format	PDF
ISBN	9781467307703
ISSN	21536961
e-ISBN	9781467307727
DOI	10.1109/ASPDAC.2012.6164946
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-01-30
Publisher Place	Australia
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Computer architecture Robots Parallel processing Feature extraction Optical imaging Time domain analysis Time varying systems
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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