Federated Learning (FL) has emerged as a promising technique for edge devices to collaboratively learn a shared prediction model, while keeping their training data on the device, thereby decoupling the ability to do machine learning from the need to store the data in the cloud. However, FL is difficult to implement and deploy in practice, considering the heterogeneity in mobile devices, e.g., different programming languages, frameworks, and hardware accelerators. Although there are a few frameworks available to simulate FL algorithms (e.g., TensorFlow Federated), they do not support implementing FL workloads on mobile devices. Furthermore, these frameworks are designed to simulate FL in a server environment and hence do not allow experimentation in distributed mobile settings for a large number of clients. In this paper, we present Flower 1 , a FL framework which is both agnostic towards heterogeneous client environments and also scales to a large number of clients, including mobile and embedded devices. Flower's abstractions let developers port existing mobile workloads with little overhead, regardless of the programming language or ML framework used, while also allowing researchers flexibility to experiment with novel approaches to advance the state-of-the-art. We describe the design goals and implementation considerations of Flower and show our experiences in evaluating the performance of FL across clients with heterogeneous computational and communication capabilities. 1 https://flower.dev/ Preprint. Under review.

In the last decade, supervised deep learning approaches have been extensively employed in visual odometry (VO) applications, which is not feasible in environments where labelled data is not abundant. On the other hand, unsupervised deep learning approaches for localization and mapping in unknown environments from unlabelled data have received comparatively less attention in VO research. In this study, we propose a generative unsupervised learning framework that predicts 6-DoF pose camera motion and monocular depth map of the scene from unlabelled RGB image sequences, using deep convolutional Generative Adversarial Networks (GANs). We create a supervisory signal by warping view sequences and assigning the re-projection minimization to the objective loss function that is adopted in multi-view pose estimation and single-view depth generation network. Detailed quantitative and qualitative evaluations of the proposed framework on the KITTI [1] and Cityscapes [2] datasets show that the proposed method outperforms both existing traditional and unsupervised deep VO methods providing better results for both pose estimation and depth recovery.

Odometry is of key importance for localization in the absence of a map. There is considerable work in the area of visual odometry (VO), and recent advances in deep learning have brought novel approaches to VO, which directly learn salient features from raw images. These learning-based approaches have led to more accurate and robust VO systems. However, they have not been well applied to point cloud data yet. In this work, we investigate how to exploit deep learning to estimate point cloud odometry (PCO), which may serve as a critical component in point cloud-based downstream tasks or learning-based systems. Specifically, we propose a novel end-to-end deep parallel neural network called DeepPCO, which can estimate the 6-DOF poses using consecutive point clouds. It consists of two parallel sub-networks to estimate 3-D translation and orientation respectively rather than a single neural network. We validate our approach on KITTI Visual Odometry/SLAM benchmark dataset with different baselines. Experiments demonstrate that the proposed approach achieves good performance in terms of pose accuracy.

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