Introduction

 Forward vehicle detection is the key technique to preventing car incident in front. Artificial intelligence (AI) techniques are used to more accurately detect vehicles, but AI-based vehicle detection takes a lot of processing time due to its high computational complexity. When there is a risk of collision with a vehicle in front, the slow detection speed of the vehicle may lead to an accident. To quickly detect a vehicle in real-time, a high-speed and lightweight vehicle detection technique with similar detection performance to that of an existing AI-based vehicle detection is required. Also, to apply forward collision warning system (FCWS) technology to vehicles, it is important to provide high performance based on low-power embedded systems because the vehicle’s battery consumption must remain low. The vehicle detection algorithm occupies the most resources in FCWS. To reduce power consumption, it is important to reduce the computational complexity of an algorithm, that is, the amount of resources required to run it. This paper describes a method for fast, accurate forward vehicle detection using machine learning and deep learning. To detect a vehicle in consecutive images consistently, a Kalman filter is used to predict the bounding box based on the tracking algorithm and correct it based on the detection algorithm. As a result, its vehicle detection speed is about 25.85 times faster than deep-learning-based object detection is, and its detection accuracy is better than machine-learning-based object detection is.

• Continuous Differential Image-based Fast Convolution for Convolutional Neural Networks

 Convolutional neural networks with powerful visual image analysis of deep structures are gaining popularity in many research fields. The main difference in convolutional neural networks compared to other artificial neural networks is the addition of many convolutional layers. The convolutional layer improves the performance of artificial neural networks by extracting feature maps required for image classification. However, for applications that require very low-latency on limited processing resources, the success of a convolutional neural network depends on how fast we can compute. In this paper, we propose a novel convolution technique of fast algorithms for convolutional neural networks using continuous differential images. The proposed method improves the response speed of the algorithm by reducing the computational complexity of the convolutional layer. It is compatible with all types of convolutional neural networks, and the lower the difference in the continuous images, the better the performance. We use the darknet network to benchmark the CPU implementation of our algorithm and show state-of-the-art throughput at pixel difference thresholds from 0 to 25 pixels.

• Differential Image-based Fast and Compatible Convolutional Layers for Multi-core Processors

 Convolutional neural networks with powerful visual image analysis for artificial intelligence are gaining popularity in many research fields, leading to the development of various high-performance algorithms for convolution operators present in these networks. One of these approaches is implemented with general matrix multiplication (GEMM) using the well-known im2col transform for fast convolution operations. In this paper, we propose a multi-core processor-based convolution technique for high-speed convolutional neural networks (CNNs) using differential images. The proposed method improves the convolutional layer's response speed by reducing the computational complexity and using multi-thread technology. In addition, the proposed algorithm has the advantage of being compatible with all types of CNNs. We use the darknet network to evaluate the convolutional layer's performance and show the best performance of the proposed algorithm when using 4-thread parallel processing.

• Differential Image-based Scalable YOLOv7-Tiny Implementation for Clustered Embedded Systems

 Convolutional neural networks (CNNs) for powerful visual image analysis are gaining popularity in artificial intelligence. The main difference in CNNs compared to other artificial neural networks is that many convolutional layers are added, which improve the performance of visual image analysis by extracting the feature maps required for image classification. However, algorithm optimization is required to run applications that require low-latency in edge compute modules with limited processing resources. In this paper, we propose a novel algorithm optimization method for fast CNNs by using continuous differential images. The main idea is to reduce computation variably by using the differential value of the input in each convolutional layer. Also, the proposed method is compatible with all types of CNNs, and the performance is better when the pixel value difference of continuous images is low. We use the DarkNet framework to evaluate our algorithm using fast convolution and half convolution approaches on a clustered system. As a result, when the input frame rate is 10 fps, FLOPs are reduced by about 4.92 times compared to the original YOLOv7-tiny. By reducing the FLOPs of the convolutional layer, the inference speed increases to about 4.86 FPS, performing 1.57 times faster than the original YOLOv7-tiny. In the case of parallel processing that used two edge compute modules for using half convolution approach, FLOPs reduced more, and the response speed improved. In addition, faster Object detection implementation is possible by additionally expanding up to 7 compute modules in a scalable clustered embedded system as much as the user wants. 

• ML-based Fast and Precise Embedded Rack Detection Software for Docking and Transport of Autonomous Mobile Robots using 2D LiDAR

 Autonomous mobile robots (AMRs) are widely used in dynamic warehouse environments for automated material handling, which is one of the fundamental parts of building intelligent logistics systems. A target docking system to transport materials such as racks, carts, and pallets is an important technology for AMRs that directly affects production efficiency. In this paper, we propose a fast and precise rack detection algorithm based on 2D LiDAR data for AMRs that consume power from batteries. This novel detection method based on machine learning to quickly detect various racks in a dynamic environment consists of three modules: first classification, secondary classification, and multiple-matching-based 2D point cloud registration. We conducted various experiments to verify the rack detection performance of the existing and proposed methods in a low-power embedded system. As a result, the relative pose accuracy is improved and the inference speed is increased by about 3 times, which shows that the proposed method has faster inference speed while reducing the relative pose error. 

• ML-based Fast and Precise Target Docking of Autonomous Mobile Robots for Intelligent Transportation Systems using 2D LiDAR