EvConv: Fast CNN Inference on Event Camera Inputs For High-Speed Robot Perception

Event cameras capture visual information with a high temporal resolution and a wide dynamic range. This enables capturing visual information at fine time granularities (e.g., microseconds) in rapidly changing environments. This makes event cameras highly useful for high-speed robotics tasks involving rapid motion, such as high-speed perception, object tracking, and control. However, convolutional neural network inference on event camera streams cannot currently perform real-time inference at the high speeds at which event cameras operate - current CNN inference times are typically closer in order of magnitude to the frame rates of regular frame-based cameras. Real-time inference at event camera rates is necessary to fully leverage the high frequency and high temporal resolution that event cameras offer. This paper presents EvConv, a new approach to enable fast inference on CNNs for inputs from event cameras. We observe that consecutive inputs to the CNN from an event camera have only small differences between them. Thus, we propose to perform inference on the difference between consecutive input tensors, or the increment. This enables a significant reduction in the number of floating-point operations required (and thus the inference latency) because increments are very sparse. We design EvConv to leverage the irregular sparsity in increments from event cameras and to retain the sparsity of these increments across all layers of the network. We demonstrate a reduction in the number of floating operations required in the forward pass by up to 98%. We also demonstrate a speedup of up to 1.6X for inference using CNNs for tasks such as depth estimation, object recognition, and optical flow estimation, with almost no loss in accuracy.

End to End ASR System with Automatic Punctuation Insertion

Recent Automatic Speech Recognition systems have been moving towards end-to-end systems that can be trained together. Numerous techniques that have been proposed recently enabled this trend, including feature extraction with CNNs, context capturing and acoustic feature modeling with RNNs, automatic alignment of input and output sequences using Connectionist Temporal Classifications, as well as replacing traditional n-gram language models with RNN Language Models. Historically, there has been a lot of interest in automatic punctuation in textual or speech to text context. However, there seems to be little interest in incorporating automatic punctuation into the emerging neural network based end-to-end speech recognition systems, partially due to the lack of English speech corpus with punctuated transcripts. In this study, we propose a method to generate punctuated transcript for the TEDLIUM dataset using transcripts available from ted.com. We also propose an end-to-end ASR system that outputs words and punctuations concurrently from speech signals. Combining Damerau Levenshtein Distance and slot error rate into DLev-SER, we enable measurement of punctuation error rate when the hypothesis text is not perfectly aligned with the reference. Compared with previous methods, our model reduces slot error rate from 0.497 to 0.341.