Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
4945345 | International Journal of Approximate Reasoning | 2017 | 13 Pages |
Abstract
Reconstruction of the tridimensional geometry of a visual scene using the binocular disparity information is an important issue in computer vision and mobile robotics, which can be formulated as a Bayesian inference problem. However, computation of the full disparity distribution with an advanced Bayesian model is usually an intractable problem, and proves computationally challenging even with a simple model. In this paper, we show how probabilistic hardware using distributed memory and alternate representation of data as stochastic bitstreams can solve that problem with high performance and energy efficiency. We put forward a way to express discrete probability distributions using stochastic data representations and perform Bayesian fusion using those representations, and show how that approach can be applied to diparity computation. We evaluate the system using a simulated stochastic implementation and discuss possible hardware implementations of such architectures and their potential for sensorimotor processing and robotics.
Keywords
Related Topics
Physical Sciences and Engineering
Computer Science
Artificial Intelligence
Authors
Alexandre Coninx, Pierre Bessière, Jacques Droulez,