Anytime Computing Techniques for LiDAR-based Perception In Cyber-Physical Systems

The pursuit of autonomy in cyber-physical systems (CPS) presents a challenging task of real-time interaction with the physical world, prompting extensive research in this domain. Recent advances in artificial intelligence (AI), particularly the introduction of deep neural networks (DNN), have significantly improved the autonomy of CPS, notably by boosting perception capabilities.

CPS perception aims to discern, classify, and track objects of interest in the operational environment, a task that is considerably challenging for computers in a three-dimensional (3D) space. For this task, the use of LiDAR sensors and processing their readings with DNNs has become popular because of their excellent performance However, in CPS such as self-driving cars and drones, object detection must be not only accurate but also timely, posing a challenge due to the high computational demand of LiDAR object detection DNNs. Satisfying this demand is particularly challenging for on-board computational platforms due to size, weight, and power constraints. Therefore, a trade-off between accuracy and latency must be made to ensure that both requirements are satisfied. Importantly, the required trade-off is operational environment dependent and should be weighted more on accuracy or latency dynamically at runtime. However, LiDAR object detection DNNs cannot dynamically reduce their execution time by compromising accuracy (i.e. anytime computing). Prior research aimed at anytime computing for object detection DNNs using camera images is not applicable to LiDAR-based detection due to architectural differences. This thesis addresses these challenges by proposing three novel techniques: Anytime-LiDAR, which enables early termination with reasonable accuracy; VALO (Versatile Anytime LiDAR Object Detection), which implements deadline-aware input data scheduling; and MURAL (Multi-Resolution Anytime Framework for LiDAR Object Detection), which introduces dynamic resolution scaling. Together, these innovations enable LiDAR-based object detection DNNs to make effective trade-offs between latency and accuracy under varying operational conditions, advancing the practical deployment of LiDAR object detection DNNs.