LiDAR (Light Detection and Ranging) imaging based on SPAD (Single-Photon Avalanche Diode) technology suffers from severe area penalty for large on-chip histogram peak detection circuits required by the high precision of measured depth values. In this work, a probabilistic estimation-based super-resolution neural network for SPAD imaging that firstly uses temporal multi-scale histograms as inputs is proposed. To reduce the area and cost of on-chip histogram computation, only part of the histogram hardware for calculating the reflected photons is implemented on a chip. On account of the distribution rule of returned photons, a probabilistic encoder as a part of the network is first proposed to solve the depth estimation problem of SPADs. By jointly using this neural network with a super-resolution network, 16× up-sampling depth estimation is realized using 32 × 32 multi-scale histogram outputs. Finally, the effectiveness of this neural network was verified in the laboratory with a 32 × 32 SPAD sensor system.
Online learning with feature spaces that are not fixed but can vary over time renders a seemingly flexible learning paradigm thus has drawn much attention. Unfortunately, two restrictions prohibit a ubiquitous application of this learning paradigm in practice. First, whereas prior studies mainly assume a homogenous feature type, data streams generated from real applications can be heterogeneous in which Boolean, ordinal, and continuous co-exist. Existing methods that prescribe parametric distributions such as Gaussians would not suffice to model the correlation among such mixtyped features. Second, while full supervision seems to be a default setup, providing labels to all arriving data instances over a long time span is tangibly onerous, laborious, and economically unsustainable. Alas, a semi-supervised online learner that can deal with mix-typed, varying feature spaces is still missing. To fill the gap, this paper explores a novel problem, named Online Semi-supervised Learning with Mixtyped streaming Features (OSLMF), which strives to relax the restrictions on the feature type and supervision information. Our key idea to solve the new problem is to leverage copula model to align the data instances with different feature spaces so as to make their distance measurable. A geometric structure underlying data instances is then established in an online fashion based on their distances, through which the limited labeling information is propagated, from the scarce labeled instances to their close neighbors. Experimental results are documented to evidence the viability and effectiveness of our proposed approach. Code is released in https://github.com/wudi1989/OSLMF.
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