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R E A L -­‐ T I M E 	
   P E R C E P T I O N
F O R 	
   A U T O M AT E D 	
   D R I V I N G
deepscale.ai
Forrest	
  Iandola
Co-­‐founder	
  and	
  CEO,	
  DeepScale
TEAM
THE	
  DEEPSCALE
Forrest	
  Iandola
CEO
PhD	
  in	
  CS.	
  Published	
  20+	
  papers	
  that	
  
focus	
  on	
  accelerating	
  and	
  improving	
  
deep	
  learning	
  for	
  computer	
  vision.
Kurt	
  Keutzer
CHIEF	
  STRATEGY	
  OFFICER
UC	
  Berkeley	
  EECS	
  Professor.	
  Former	
  CTO	
  
of	
  Synopsys.	
  Advisor	
  to	
  20+	
  startups.
Lisa	
  Brughera
DIR	
  OF	
  FINANCE
MS	
  in	
  Global	
  Policy.	
  Project	
  Manager	
  for	
  
non-­‐profit	
  housing	
  sector;	
  managed	
  
multi-­‐million	
  $,	
  multi-­‐asset	
  class	
  budgets.
Anting	
  Shen
HEAD	
  OF	
  PRODUCT	
  ENGINEERING
MS	
  in	
  CS.	
  Developed	
  ML	
  applications	
  at	
  
Yelp.	
  Researched	
  computer	
  vision	
  and	
  
launched	
  ML	
  startup	
  at	
  UC	
  Berkeley.
Sammy	
  Sidhu
HEAD	
  OF	
  ADVANCED	
  ENGINEERING
BS	
  in	
  EECS.	
  Built	
  low-­‐latency	
  ML	
  at	
  
Apple and	
  high-­‐frequency	
  trading	
  
systems	
  at	
  Two	
  Sigma	
  Investments.
Ben	
  Landen
HEAD	
  OF	
  BIZ	
  DEV
MBA,	
  BS	
  in	
  EE.	
  Managed	
  $100M	
  P&L	
  of	
  
ADAS/Infotainment	
  semiconductors	
  at	
  
Maxim	
  Integrated.
Paden	
  Tomasello
ENGINEER
BS	
  in	
  EECS.	
  Developed	
  high-­‐
performance	
  software	
  at	
  Graphistry
and	
  Cloudera.
Nobie Redmon
ENGINEER
MS	
  in	
  Physics.	
  Implemented	
  scaled	
  
anti-­‐abuse	
  workflows	
  at	
  Google.
Daisyca Woe
EXEC	
  ASSISTANT
BS	
  in	
  Biology.	
  Managed	
  multiple	
  
offices	
  and	
  studios	
  in	
  health	
  &	
  
wellness	
  industry.
Matt	
  Moskewicz
PRINCIPAL	
  ENGINEER
PhD	
  in	
  EECS.	
  Author	
  of	
  SAT	
  Chaff	
  
algorithm	
  (3K+	
  citations);	
  Co-­‐founder	
  
of	
  CommandCAD (sold	
  to	
  Cadence).
Romi Phadte
ENGINEER
BS	
  in	
  EECS.	
  Launched	
  mobile	
  consumer	
  
products	
  reaching	
  100M+	
  users	
  at	
  
Pinterest.
Paras	
  Jain
ENGINEER
BS	
  in	
  CS.	
  Shipped	
  ads	
  product	
  managing	
  
$100M+	
  at	
  Twitter;	
  accelerated	
  low-­‐
latency	
  trading	
  at	
  Two	
  Sigma	
  Investments.
Judy	
  Thrasher
MANAGER	
  OF	
  HR	
  OPERATIONS
BS	
  in	
  Business	
  Administration. Director	
  of	
  
HR	
  and	
  Head	
  of	
  Global	
  Staffing	
  at	
  A10	
  
Networks from	
  pre-­‐IPO	
  to	
  post-­‐IPO.
Ed	
  O'Donnell
HEAD	
  OF	
  PRODUCT	
  MANAGEMENT
MBA,	
  Yale	
  BA.	
  Product	
  Management	
  at	
  
MapD (GPU	
  analytics),	
  Telenav (GPS	
  nav),	
  
DoubleClick, other	
  early	
  stage	
  startups.
Angie	
  Nucci Mullen
PR/MARKETING	
  MANAGER
B.A.,	
  Public	
  Relations.	
  Led	
  Honda	
  advanced	
  
product	
  PR	
  initiatives.	
  Established	
  company	
  
as	
  leader	
  in	
  safety,	
  electrified,	
  autonomous,	
  
and	
  connected	
  vehicle	
  technology.
Overview
• The	
  rise	
  of	
  the	
  software-­‐defined	
  car
• How	
  to	
  build	
  a	
  good	
  perception	
  system	
  for	
  automated	
  
driving
• DeepScale's	
  approach	
  to	
  building	
  redundant	
  and	
  
efficient	
  perception	
  systems
THE	
  SOFTWARE-­‐DEFINED	
  CAR
Ubiquitous	
  sensors	
  in	
  cars
Fast	
  in-­‐vehicle	
  data	
  network
Central	
  compute	
  in	
  cars
Over-­‐The-­‐Air	
  (OTA)	
  update	
  adoption
Market	
  adoption	
  of	
  driver-­‐assistance	
  &	
  automated	
  driving
1	
  mbit/s
in-­‐vehicle	
  
network
1986 2006
>500	
  mbit/s	
  in-­‐
vehicle	
  
network
2014 2015 2016 2017 2018 2019 2022
>1	
  Gbit/s	
  in-­‐
vehicle	
  
network
Tesla	
  Auto-­‐Pilot
OTA	
  offered,	
  
>75%	
  adoption
Mass	
  Production	
  
German	
  vehicles	
  w/	
  
centralized	
  compute
GM	
  SuperCruise
OTA	
  offered
Subaru	
  EyeSight
>80%	
  Japan	
  
adoption
>10	
  Gbit/s	
  in-­‐
vehicle	
  
network
Backup	
  cameras	
  
required	
  in	
  all	
  new	
  
cars
Auto	
  Emergency	
  
Braking	
  required	
  in	
  
all	
  new	
  cars
CONFIDENTIAL
LEVELS	
  OF	
  AUTOMATED	
  DRIVING
LEVEL	
  1 DRIVER ASSISTANCE
LEVEL	
  2 PARTIAL	
  AUTOMATION
LEVEL	
  3 CONDITIONAL	
  AUTOMATION
LEVEL	
  4 HIGH	
  AUTOMATION
LEVEL	
  5 FULL	
  AUTOMATION
PASSENGER
CARS
ROBOTAXIS
DeepScale	
  develops	
  technology	
  for	
  every	
  level
THE	
  FLOW
All	
  levels	
  of	
  vehicle	
  automation	
  require	
  this	
  flow	
  to	
  work.
DeepScale	
  specializes	
  in	
  Real-­‐Time	
  Perception.
SENSORS
LIDAR
ULTRASONICCAMERA
RADAR
OFFLINE	
  MAPS
REAL-­‐TIME
PERCEPTION
PATH	
  PLANNING
&
ACTUATION
WHAT	
  ARE	
  THE	
  DESIGN	
  PRINCIPLES	
  FOR	
  
AN	
  IDEAL	
  PERCEPTION	
  SYSTEM?
Good	
  perception	
  systems	
  are	
  RARE
Robust
Accurate
Redundant
Efficient
A	
  perception	
  system's	
  hierarchy	
  of	
  needs
Predictive	
  Perception
Semantic	
  Perception
Shape	
  Perception
FOR	
  SOFTWARE	
  REDUNDANCY
OVERVIEW	
  OF	
  DEEPSCALE'S	
  APPROACH	
  TO	
  
REDUNDANCY	
  &	
  EFFICIENCY
SENSOR REDUNDANCY
TRADITIONAL	
  COMPUTER	
  VISION
• Dedicated	
  processor	
  bundled	
  with	
  specific	
  camera	
  in	
  a	
  closed	
  module
• Pre-­‐dates	
  Deep	
  Neural	
  Networks	
  à narrow	
  capability	
  based	
  on	
  hard-­‐coded	
  
algorithms	
  (e.g.	
  only	
  detect	
  cars	
  from	
  certain	
  angles)
• Major	
  revisions	
  dictated	
  by	
  hardware	
  development	
  cycles	
  of	
  2-­‐3	
  years	
  (an	
  
eternity	
  given	
  how	
  fast	
  AI	
  is	
  changing)
Approach	
  #1
DEEP	
  LEARNING	
  IS	
  THE	
  TECHNOLOGY	
  THAT	
  WILL	
  
BRING	
  BREAKTHROUGHS	
  IN	
  PERCEPTION
IMAGENET	
  TOP-­‐5	
  ERROR Similar	
  accuracy	
  improvements	
  
on	
  tasks	
  such	
  as:
-­‐ semantic	
  segmentation
-­‐ object	
  detection
-­‐ 3D	
  reconstruction
-­‐ …the	
  list	
  goes	
  on
OPEN-­‐SOURCE
DEEP	
  NEURAL	
  NETWORKS
[1]	
  S	
  Ren,	
  K	
  He,	
  R	
  Girshick,	
  J	
  Sun.	
  Faster	
  R-­‐CNN.	
  NIPS,	
  2015.
[2]	
  J	
  Redmon,	
  A	
  Farhadi.	
  YOLO9000.	
  CVPR,	
  2016.
[3]	
  W	
  Liu,	
  et	
  al.	
  SSD:	
  Single	
  shot	
  multibox detector.	
  ECCV,	
  2016
• Modern	
  Deep	
  Neural	
  Networks	
  (DNNs)	
  have	
  
brought	
  order-­‐of-­‐magnitude	
  improvements	
  
in	
  perception	
  accuracy
…but,	
  real-­‐time	
  DNNs	
  for	
  object	
  detection	
  
require	
  250W+	
  of	
  GPU	
  computing	
  [1,2,3]
• This	
  leads	
  to	
  a	
  trunk	
  full	
  of	
  hot,	
  expensive,	
  
power-­‐hungry	
  servers
Approach	
  #2
50-­‐500x	
  smaller	
  DNN	
  models	
  for	
  
image	
  classification
30x	
  speedup	
  for
object	
  detection	
  DNNs
Implementing	
  DNNs	
  on	
  
embedded	
  processors
DeepScale's playbook	
  for	
  creating	
  
small	
  and	
  efficient	
  DNN	
  models
DeepScale's	
  Unique	
  Advantage:
Small,	
  efficient	
  DNNs	
  on	
  low-­‐cost,	
  
automotive-­‐grade	
  processors
16
DeepScale	
  Captures	
  Best	
  Attributes	
  of	
  Camera	
  Systems
TRADITIONAL
COMPUTER	
  VISION
OPEN-­‐SOURCE
RESEARCH
MAIN	
  
CAPABILITIES
Object Detection	
  using	
  
conventional	
  methods
Object	
  Detection	
  using	
  
Deep	
  Neural	
  Networks
Object	
  Detection	
  using	
  
Deep	
  Neural	
  Networks
ERROR	
  RATE	
  
TREND
Improves	
  with	
  hardware	
  
revisions	
  every	
  3	
  years
Improves	
  all	
  the	
  time Improves	
  all	
  the	
  time
COMPUTE
HARDWARE
Custom	
  ASICs	
  or	
  FGPAs	
  
($$)
One	
  high-­‐end	
  GPU per	
  camera
($$$)
One	
  NVIDIA	
  automotive	
  GPU	
  
per	
  multi-­‐camera	
  set	
  ($)
POWER <10W 250W+ <10W	
  per camera
PORTABILITY Tied to	
  supplier's
camera	
  and	
  ASIC	
  bundle
Varies Portable across	
  cameras	
  and	
  
processors
AUTOMOTIVE	
  
CERTIFICATON
Yes No In	
  progress
Summary
• The	
  rise	
  of	
  the	
  software-­‐defined	
  car
• Good	
  perception	
  systems	
  for	
  automated	
  driving	
  are	
  
RARE
• Robust
• Accurate
• Redundant
• Efficient
• DeepScale	
  is	
  building	
  RARE	
  perception	
  systems
• As	
  the	
  creators	
  of	
  SqueezeNet,	
  it's	
  no	
  surprise	
  that	
  DeepScale	
  
excels	
  in	
  Efficiency
Where	
  to	
  catch	
  us	
  next
• May:	
  AutoSens	
  Detroit
• June:	
  CVPR	
  Efficient	
  Deep	
  Learning	
  Workshop	
  (organizers)
• ShiftNet:	
  arxiv.org/pdf/1711.08141.pdf	
  
• SqueezeNext:	
  arxiv.org/abs/1803.10615	
  
Our	
  latest	
  papers	
  on	
  small	
  neural	
  nets
@DeepScale_

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DeepScale: Real-Time Perception for Automated Driving

  • 1. R E A L -­‐ T I M E   P E R C E P T I O N F O R   A U T O M AT E D   D R I V I N G deepscale.ai Forrest  Iandola Co-­‐founder  and  CEO,  DeepScale
  • 2. TEAM THE  DEEPSCALE Forrest  Iandola CEO PhD  in  CS.  Published  20+  papers  that   focus  on  accelerating  and  improving   deep  learning  for  computer  vision. Kurt  Keutzer CHIEF  STRATEGY  OFFICER UC  Berkeley  EECS  Professor.  Former  CTO   of  Synopsys.  Advisor  to  20+  startups. Lisa  Brughera DIR  OF  FINANCE MS  in  Global  Policy.  Project  Manager  for   non-­‐profit  housing  sector;  managed   multi-­‐million  $,  multi-­‐asset  class  budgets. Anting  Shen HEAD  OF  PRODUCT  ENGINEERING MS  in  CS.  Developed  ML  applications  at   Yelp.  Researched  computer  vision  and   launched  ML  startup  at  UC  Berkeley. Sammy  Sidhu HEAD  OF  ADVANCED  ENGINEERING BS  in  EECS.  Built  low-­‐latency  ML  at   Apple and  high-­‐frequency  trading   systems  at  Two  Sigma  Investments. Ben  Landen HEAD  OF  BIZ  DEV MBA,  BS  in  EE.  Managed  $100M  P&L  of   ADAS/Infotainment  semiconductors  at   Maxim  Integrated. Paden  Tomasello ENGINEER BS  in  EECS.  Developed  high-­‐ performance  software  at  Graphistry and  Cloudera. Nobie Redmon ENGINEER MS  in  Physics.  Implemented  scaled   anti-­‐abuse  workflows  at  Google. Daisyca Woe EXEC  ASSISTANT BS  in  Biology.  Managed  multiple   offices  and  studios  in  health  &   wellness  industry. Matt  Moskewicz PRINCIPAL  ENGINEER PhD  in  EECS.  Author  of  SAT  Chaff   algorithm  (3K+  citations);  Co-­‐founder   of  CommandCAD (sold  to  Cadence). Romi Phadte ENGINEER BS  in  EECS.  Launched  mobile  consumer   products  reaching  100M+  users  at   Pinterest. Paras  Jain ENGINEER BS  in  CS.  Shipped  ads  product  managing   $100M+  at  Twitter;  accelerated  low-­‐ latency  trading  at  Two  Sigma  Investments. Judy  Thrasher MANAGER  OF  HR  OPERATIONS BS  in  Business  Administration. Director  of   HR  and  Head  of  Global  Staffing  at  A10   Networks from  pre-­‐IPO  to  post-­‐IPO. Ed  O'Donnell HEAD  OF  PRODUCT  MANAGEMENT MBA,  Yale  BA.  Product  Management  at   MapD (GPU  analytics),  Telenav (GPS  nav),   DoubleClick, other  early  stage  startups. Angie  Nucci Mullen PR/MARKETING  MANAGER B.A.,  Public  Relations.  Led  Honda  advanced   product  PR  initiatives.  Established  company   as  leader  in  safety,  electrified,  autonomous,   and  connected  vehicle  technology.
  • 3. Overview • The  rise  of  the  software-­‐defined  car • How  to  build  a  good  perception  system  for  automated   driving • DeepScale's  approach  to  building  redundant  and   efficient  perception  systems
  • 4. THE  SOFTWARE-­‐DEFINED  CAR Ubiquitous  sensors  in  cars Fast  in-­‐vehicle  data  network Central  compute  in  cars Over-­‐The-­‐Air  (OTA)  update  adoption Market  adoption  of  driver-­‐assistance  &  automated  driving 1  mbit/s in-­‐vehicle   network 1986 2006 >500  mbit/s  in-­‐ vehicle   network 2014 2015 2016 2017 2018 2019 2022 >1  Gbit/s  in-­‐ vehicle   network Tesla  Auto-­‐Pilot OTA  offered,   >75%  adoption Mass  Production   German  vehicles  w/   centralized  compute GM  SuperCruise OTA  offered Subaru  EyeSight >80%  Japan   adoption >10  Gbit/s  in-­‐ vehicle   network Backup  cameras   required  in  all  new   cars Auto  Emergency   Braking  required  in   all  new  cars CONFIDENTIAL
  • 5. LEVELS  OF  AUTOMATED  DRIVING LEVEL  1 DRIVER ASSISTANCE LEVEL  2 PARTIAL  AUTOMATION LEVEL  3 CONDITIONAL  AUTOMATION LEVEL  4 HIGH  AUTOMATION LEVEL  5 FULL  AUTOMATION PASSENGER CARS ROBOTAXIS DeepScale  develops  technology  for  every  level
  • 6. THE  FLOW All  levels  of  vehicle  automation  require  this  flow  to  work. DeepScale  specializes  in  Real-­‐Time  Perception. SENSORS LIDAR ULTRASONICCAMERA RADAR OFFLINE  MAPS REAL-­‐TIME PERCEPTION PATH  PLANNING & ACTUATION
  • 7. WHAT  ARE  THE  DESIGN  PRINCIPLES  FOR   AN  IDEAL  PERCEPTION  SYSTEM?
  • 8. Good  perception  systems  are  RARE Robust Accurate Redundant Efficient
  • 9. A  perception  system's  hierarchy  of  needs Predictive  Perception Semantic  Perception Shape  Perception FOR  SOFTWARE  REDUNDANCY
  • 10. OVERVIEW  OF  DEEPSCALE'S  APPROACH  TO   REDUNDANCY  &  EFFICIENCY
  • 12. TRADITIONAL  COMPUTER  VISION • Dedicated  processor  bundled  with  specific  camera  in  a  closed  module • Pre-­‐dates  Deep  Neural  Networks  à narrow  capability  based  on  hard-­‐coded   algorithms  (e.g.  only  detect  cars  from  certain  angles) • Major  revisions  dictated  by  hardware  development  cycles  of  2-­‐3  years  (an   eternity  given  how  fast  AI  is  changing) Approach  #1
  • 13. DEEP  LEARNING  IS  THE  TECHNOLOGY  THAT  WILL   BRING  BREAKTHROUGHS  IN  PERCEPTION IMAGENET  TOP-­‐5  ERROR Similar  accuracy  improvements   on  tasks  such  as: -­‐ semantic  segmentation -­‐ object  detection -­‐ 3D  reconstruction -­‐ …the  list  goes  on
  • 14. OPEN-­‐SOURCE DEEP  NEURAL  NETWORKS [1]  S  Ren,  K  He,  R  Girshick,  J  Sun.  Faster  R-­‐CNN.  NIPS,  2015. [2]  J  Redmon,  A  Farhadi.  YOLO9000.  CVPR,  2016. [3]  W  Liu,  et  al.  SSD:  Single  shot  multibox detector.  ECCV,  2016 • Modern  Deep  Neural  Networks  (DNNs)  have   brought  order-­‐of-­‐magnitude  improvements   in  perception  accuracy …but,  real-­‐time  DNNs  for  object  detection   require  250W+  of  GPU  computing  [1,2,3] • This  leads  to  a  trunk  full  of  hot,  expensive,   power-­‐hungry  servers Approach  #2
  • 15. 50-­‐500x  smaller  DNN  models  for   image  classification 30x  speedup  for object  detection  DNNs Implementing  DNNs  on   embedded  processors DeepScale's playbook  for  creating   small  and  efficient  DNN  models DeepScale's  Unique  Advantage: Small,  efficient  DNNs  on  low-­‐cost,   automotive-­‐grade  processors
  • 16. 16 DeepScale  Captures  Best  Attributes  of  Camera  Systems TRADITIONAL COMPUTER  VISION OPEN-­‐SOURCE RESEARCH MAIN   CAPABILITIES Object Detection  using   conventional  methods Object  Detection  using   Deep  Neural  Networks Object  Detection  using   Deep  Neural  Networks ERROR  RATE   TREND Improves  with  hardware   revisions  every  3  years Improves  all  the  time Improves  all  the  time COMPUTE HARDWARE Custom  ASICs  or  FGPAs   ($$) One  high-­‐end  GPU per  camera ($$$) One  NVIDIA  automotive  GPU   per  multi-­‐camera  set  ($) POWER <10W 250W+ <10W  per camera PORTABILITY Tied to  supplier's camera  and  ASIC  bundle Varies Portable across  cameras  and   processors AUTOMOTIVE   CERTIFICATON Yes No In  progress
  • 17. Summary • The  rise  of  the  software-­‐defined  car • Good  perception  systems  for  automated  driving  are   RARE • Robust • Accurate • Redundant • Efficient • DeepScale  is  building  RARE  perception  systems • As  the  creators  of  SqueezeNet,  it's  no  surprise  that  DeepScale   excels  in  Efficiency
  • 18. Where  to  catch  us  next • May:  AutoSens  Detroit • June:  CVPR  Efficient  Deep  Learning  Workshop  (organizers) • ShiftNet:  arxiv.org/pdf/1711.08141.pdf   • SqueezeNext:  arxiv.org/abs/1803.10615   Our  latest  papers  on  small  neural  nets @DeepScale_