エッジにおける深層学習の推論処理の効率化

1. 487-8501 1200 Tel 0568-51-8249 Fax 0568-51-9409 487-8501 1200 Tel 0568-51-9670 Fax 0568-51-1540 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 miya@vision.cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROB Chubu University Department of Robotics Science a College of Engineering Ayumi Miyako Machine Perception and Robotic 1200 Matsumoto-cho, Kasugai, A 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp 487-8501 1200 Tel 0568-51-8249 Fax 0568-51-9409 yuu@vision.cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Research Assistant Dr.Eng. Yuji Yamauchi Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-8249 Fax +81-568-51-9409 yuu@vision.cs.chubu.ac.jp 487-8501 1200 Tel 0568-51-9670 Fax 0568-51-1540 yamashita@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Computer Science College of Engineering Lecturer Dr.Eng. Takayoshi Yamashita Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9670 Fax +81-568-51-1540 yamashita@cs.chubu.ac.jp 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor Dr.Eng. Hironobu Fujiyoshi Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp

2. 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR Hironobu Fujiyoshi E-mail: hf@cs.chubu.ac.jp 1997 , 1997 Postdoctoral Fellow, 2000 , 2004 , 2005 ( 2006 ), 2010 , 2014 .    (2005 ) CVIM (2009 ) (2009 ) (2010, 2013, 2014 ) (2013 ) Takayoshi Yamashita E-mail:yamashita@cs.chubu.ac.jp 2002 , 2002 , 2009 ( ), 2014 2017 .    (2009 ) (2013 ) PRMU (2013 )

3. 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR

4. !4 human car motorcycle bicycle road sidewalk pole trafﬁc sign trafﬁc signal sky vegetation terrain

10. 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR Sheet1 Input Image 100x100 Filter Size 9x9x16 Maxout 2 Max pooling 2x2 Filter Size 5x5x32 Maxout 2 Max pooling 2x2 Filter Size 3x3x64 Maxout 2 Max pooling 2x2 Layer4 Sigmoid 200 Output 17 Layer1 Layer2 Layer3

11. VGG-16 input Segmentation 予測レイヤ Deconvolution層 Non-max suppression Conv4_3 Conv5_3 fc7 Conv6_2 Conv7_2 Conv8_2 Conv9_2 Detection Deconv. Deconv. Deconv. Deconv. Deconv. Deconv. Deconv. Deconvolution層(3層) 特徴マップの結合 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR

12. VGG-16 input Segmentation 予測レイヤ Deconvolution層 Non-max suppression Conv4_3 Conv5_3 fc7 Conv6_2 Conv7_2 Conv8_2 Conv9_2 Detection Deconv. Deconv. Deconv. Deconv. Deconv. Deconv. Deconv. Deconvolution層(3層) 特徴マップの結合 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR

16. 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR I

17. 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR Deep Residual Learning • Plaint net Kaiming He, Xiangyu Zhang, Shaoqing Ren, & Jian Sun. “Deep Residual Learning for Image Recognition”. arXiv 2015. any two stacked layers 𝑥 𝐻(𝑥) weight layer weight layer relu relu 𝐻 𝑥 is any desired mapping, hope the 2 weight layers fit 𝐻(𝑥) Deep Residual Learning • Residual net Kaiming He, Xiangyu Zhang, Shaoqing Ren, & Jian Sun. “Deep Residual Learning for Image Recognition”. arXiv 2015. 𝐻 𝑥 is any desired mapping, hope the 2 weight layers fit 𝐻(𝑥) hope the 2 weight layers fit 𝐹(𝑥) let 𝐻 𝑥 = 𝐹 𝑥 + 𝑥 weight layer weight layer relu relu 𝑥 𝐻 𝑥 = 𝐹 𝑥 + 𝑥 identity 𝑥 𝐹(𝑥) ImageNet experiments • A practical design of going deeper 3x3, 64 3x3, 64 relu relu 64-d 3x3, 64 1x1, 64 relu 1x1, 256 relu relu 256-d all-3x3 Kaiming He, Xiangyu Zhang, Shaoqing Ren, & Jian Sun. “Deep Residual Learning for Image Recognition bottleneck (for ResNet-50/101/152) similar complexity

18. 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR ResNet-152 data conv1 bn_conv1 scale_conv1 conv1_relu pool1 res2a_branch2a bn2a_branch2a scale2a_branch2a res2a_branch2a_relu res2a_branch2b bn2a_branch2b scale2a_branch2b res2a_branch2b_relu res2a_branch2c bn2a_branch2c scale2a_branch2c res2a_branch1 bn2a_branch1 scale2a_branch1 res2a res2a_relu res2b_branch2a bn2b_branch2a scale2b_branch2a res2b_branch2a_relu res2b_branch2b bn2b_branch2b scale2b_branch2b res2b_branch2b_relu res2b_branch2c bn2b_branch2c scale2b_branch2c res2b res2b_relu res2c_branch2a bn2c_branch2a scale2c_branch2a res2c_branch2a_relu res2c_branch2b bn2c_branch2b scale2c_branch2b res2c_branch2b_relu res2c_branch2c bn2c_branch2c scale2c_branch2c res2c res2c_relu res3a_branch2a bn3a_branch2a scale3a_branch2a res3a_branch2a_relu res3a_branch2b bn3a_branch2b scale3a_branch2b res3a_branch2b_relu res3a_branch2c bn3a_branch2c scale3a_branch2c res3a_branch1 bn3a_branch1 scale3a_branch1 res3a res3a_relu res3b1_branch2a bn3b1_branch2a scale3b1_branch2a res3b1_branch2a_relu res3b1_branch2b bn3b1_branch2b scale3b1_branch2b res3b1_branch2b_relu res3b1_branch2c bn3b1_branch2c scale3b1_branch2c res3b1 res3b1_relu res3b2_branch2a bn3b2_branch2a scale3b2_branch2a res3b2_branch2a_relu res3b2_branch2b bn3b2_branch2b scale3b2_branch2b res3b2_branch2b_relu res3b2_branch2c bn3b2_branch2c scale3b2_branch2c res3b2 res3b2_relu res3b3_branch2a bn3b3_branch2a scale3b3_branch2a res3b3_branch2a_relu res3b3_branch2b bn3b3_branch2b scale3b3_branch2b res3b3_branch2b_relu res3b3_branch2c bn3b3_branch2c scale3b3_branch2c res3b3 res3b3_relu res3b4_branch2a bn3b4_branch2a scale3b4_branch2a res3b4_branch2a_relu res3b4_branch2b bn3b4_branch2b scale3b4_branch2b res3b4_branch2b_relu res3b4_branch2c bn3b4_branch2c scale3b4_branch2c res3b4 res3b4_relu res3b5_branch2a bn3b5_branch2a scale3b5_branch2a res3b5_branch2a_relu res3b5_branch2b bn3b5_branch2b scale3b5_branch2b res3b5_branch2b_relu res3b5_branch2c bn3b5_branch2c scale3b5_branch2c res3b5 res3b5_relu res3b6_branch2a bn3b6_branch2a scale3b6_branch2a res3b6_branch2a_relu res3b6_branch2b bn3b6_branch2b scale3b6_branch2b res3b6_branch2b_relu res3b6_branch2c bn3b6_branch2c scale3b6_branch2c res3b6 res3b6_relu res3b7_branch2a bn3b7_branch2a scale3b7_branch2a res3b7_branch2a_relu res3b7_branch2b bn3b7_branch2b scale3b7_branch2b res3b7_branch2b_relu res3b7_branch2c bn3b7_branch2c scale3b7_branch2c res3b7 res3b7_relu res4a_branch2a bn4a_branch2a scale4a_branch2a res4a_branch2a_relu res4a_branch2b bn4a_branch2b scale4a_branch2b res4a_branch2b_relu res4a_branch2c bn4a_branch2c scale4a_branch2c res4a_branch1 bn4a_branch1 scale4a_branch1 res4a res4a_relu res4b1_branch2a bn4b1_branch2a scale4b1_branch2a res4b1_branch2a_relu res4b1_branch2b bn4b1_branch2b scale4b1_branch2b res4b1_branch2b_relu res4b1_branch2c bn4b1_branch2c scale4b1_branch2c res4b1 res4b1_relu res4b2_branch2a bn4b2_branch2a scale4b2_branch2a res4b2_branch2a_relu res4b2_branch2b bn4b2_branch2b scale4b2_branch2b res4b2_branch2b_relu res4b2_branch2c bn4b2_branch2c scale4b2_branch2c res4b2 res4b2_relu res4b3_branch2a bn4b3_branch2a scale4b3_branch2a res4b3_branch2a_relu res4b3_branch2b bn4b3_branch2b scale4b3_branch2b res4b3_branch2b_relu res4b3_branch2c bn4b3_branch2c scale4b3_branch2c res4b3 res4b3_relu res4b4_branch2a bn4b4_branch2a scale4b4_branch2a res4b4_branch2a_relu res4b4_branch2b bn4b4_branch2b scale4b4_branch2b res4b4_branch2b_relu res4b4_branch2c bn4b4_branch2c scale4b4_branch2c res4b4 res4b4_relu res4b5_branch2a bn4b5_branch2a scale4b5_branch2a res4b5_branch2a_relu res4b5_branch2b bn4b5_branch2b scale4b5_branch2b res4b5_branch2b_relu res4b5_branch2c bn4b5_branch2c scale4b5_branch2c res4b5 res4b5_relu res4b6_branch2a bn4b6_branch2a scale4b6_branch2a res4b6_branch2a_relu res4b6_branch2b bn4b6_branch2b scale4b6_branch2b res4b6_branch2b_relu res4b6_branch2c bn4b6_branch2c scale4b6_branch2c res4b6 res4b6_relu res4b7_branch2a bn4b7_branch2a scale4b7_branch2a res4b7_branch2a_relu res4b7_branch2b bn4b7_branch2b scale4b7_branch2b res4b7_branch2b_relu res4b7_branch2c bn4b7_branch2c scale4b7_branch2c res4b7 res4b7_relu res4b8_branch2a bn4b8_branch2a scale4b8_branch2a res4b8_branch2a_relu res4b8_branch2b bn4b8_branch2b scale4b8_branch2b res4b8_branch2b_relu res4b8_branch2c bn4b8_branch2c scale4b8_branch2c res4b8 res4b8_relu res4b9_branch2a bn4b9_branch2a scale4b9_branch2a res4b9_branch2a_relu res4b9_branch2b bn4b9_branch2b scale4b9_branch2b res4b9_branch2b_relu res4b9_branch2c bn4b9_branch2c scale4b9_branch2c res4b9 res4b9_relu res4b10_branch2a bn4b10_branch2a scale4b10_branch2a res4b10_branch2a_relu res4b10_branch2b bn4b10_branch2b scale4b10_branch2b res4b10_branch2b_relu res4b10_branch2c bn4b10_branch2c scale4b10_branch2c res4b10 res4b10_relu res4b11_branch2a bn4b11_branch2a scale4b11_branch2a res4b11_branch2a_relu res4b11_branch2b bn4b11_branch2b scale4b11_branch2b res4b11_branch2b_relu res4b11_branch2c bn4b11_branch2c scale4b11_branch2c res4b11 res4b11_relu res4b12_branch2a bn4b12_branch2a scale4b12_branch2a res4b12_branch2a_relu res4b12_branch2b bn4b12_branch2b scale4b12_branch2b res4b12_branch2b_relu res4b12_branch2c bn4b12_branch2c scale4b12_branch2c res4b12 res4b12_relu res4b13_branch2a bn4b13_branch2a scale4b13_branch2a res4b13_branch2a_relu res4b13_branch2b bn4b13_branch2b scale4b13_branch2b res4b13_branch2b_relu res4b13_branch2c bn4b13_branch2c scale4b13_branch2c res4b13 res4b13_relu res4b14_branch2a bn4b14_branch2a scale4b14_branch2a res4b14_branch2a_relu res4b14_branch2b bn4b14_branch2b scale4b14_branch2b res4b14_branch2b_relu res4b14_branch2c bn4b14_branch2c scale4b14_branch2c res4b14 res4b14_relu res4b15_branch2a bn4b15_branch2a scale4b15_branch2a res4b15_branch2a_relu res4b15_branch2b bn4b15_branch2b scale4b15_branch2b res4b15_branch2b_relu res4b15_branch2c bn4b15_branch2c scale4b15_branch2c res4b15 res4b15_relu res4b16_branch2a bn4b16_branch2a scale4b16_branch2a res4b16_branch2a_relu res4b16_branch2b bn4b16_branch2b scale4b16_branch2b res4b16_branch2b_relu res4b16_branch2c bn4b16_branch2c scale4b16_branch2c res4b16 res4b16_relu res4b17_branch2a bn4b17_branch2a scale4b17_branch2a res4b17_branch2a_relu res4b17_branch2b bn4b17_branch2b scale4b17_branch2b res4b17_branch2b_relu res4b17_branch2c bn4b17_branch2c scale4b17_branch2c res4b17 res4b17_relu res4b18_branch2a bn4b18_branch2a scale4b18_branch2a res4b18_branch2a_relu res4b18_branch2b bn4b18_branch2b scale4b18_branch2b res4b18_branch2b_relu res4b18_branch2c bn4b18_branch2c scale4b18_branch2c res4b18 res4b18_relu res4b19_branch2a bn4b19_branch2a scale4b19_branch2a res4b19_branch2a_relu res4b19_branch2b bn4b19_branch2b scale4b19_branch2b res4b19_branch2b_relu res4b19_branch2c bn4b19_branch2c scale4b19_branch2c res4b19 res4b19_relu res4b20_branch2a 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res4b24_branch2b_relu res4b24_branch2c bn4b24_branch2c scale4b24_branch2c res4b24 res4b24_relu res4b25_branch2a bn4b25_branch2a scale4b25_branch2a res4b25_branch2a_relu res4b25_branch2b bn4b25_branch2b scale4b25_branch2b res4b25_branch2b_relu res4b25_branch2c bn4b25_branch2c scale4b25_branch2c res4b25 res4b25_relu res4b26_branch2a bn4b26_branch2a scale4b26_branch2a res4b26_branch2a_relu res4b26_branch2b bn4b26_branch2b scale4b26_branch2b res4b26_branch2b_relu res4b26_branch2c bn4b26_branch2c scale4b26_branch2c res4b26 res4b26_relu res4b27_branch2a bn4b27_branch2a scale4b27_branch2a res4b27_branch2a_relu res4b27_branch2b bn4b27_branch2b scale4b27_branch2b res4b27_branch2b_relu res4b27_branch2c bn4b27_branch2c scale4b27_branch2c res4b27 res4b27_relu res4b28_branch2a bn4b28_branch2a scale4b28_branch2a res4b28_branch2a_relu res4b28_branch2b bn4b28_branch2b scale4b28_branch2b res4b28_branch2b_relu res4b28_branch2c bn4b28_branch2c scale4b28_branch2c res4b28 res4b28_relu res4b29_branch2a bn4b29_branch2a scale4b29_branch2a res4b29_branch2a_relu res4b29_branch2b bn4b29_branch2b scale4b29_branch2b res4b29_branch2b_relu res4b29_branch2c bn4b29_branch2c scale4b29_branch2c res4b29 res4b29_relu res4b30_branch2a bn4b30_branch2a scale4b30_branch2a res4b30_branch2a_relu res4b30_branch2b bn4b30_branch2b scale4b30_branch2b res4b30_branch2b_relu res4b30_branch2c bn4b30_branch2c scale4b30_branch2c res4b30 res4b30_relu res4b31_branch2a bn4b31_branch2a scale4b31_branch2a res4b31_branch2a_relu res4b31_branch2b bn4b31_branch2b scale4b31_branch2b res4b31_branch2b_relu res4b31_branch2c bn4b31_branch2c scale4b31_branch2c res4b31 res4b31_relu res4b32_branch2a bn4b32_branch2a scale4b32_branch2a res4b32_branch2a_relu res4b32_branch2b bn4b32_branch2b scale4b32_branch2b res4b32_branch2b_relu res4b32_branch2c bn4b32_branch2c scale4b32_branch2c res4b32 res4b32_relu res4b33_branch2a bn4b33_branch2a scale4b33_branch2a res4b33_branch2a_relu res4b33_branch2b bn4b33_branch2b scale4b33_branch2b res4b33_branch2b_relu res4b33_branch2c bn4b33_branch2c scale4b33_branch2c res4b33 res4b33_relu res4b34_branch2a bn4b34_branch2a scale4b34_branch2a res4b34_branch2a_relu res4b34_branch2b bn4b34_branch2b scale4b34_branch2b res4b34_branch2b_relu res4b34_branch2c bn4b34_branch2c scale4b34_branch2c res4b34 res4b34_relu res4b35_branch2a bn4b35_branch2a scale4b35_branch2a res4b35_branch2a_relu res4b35_branch2b bn4b35_branch2b scale4b35_branch2b res4b35_branch2b_relu res4b35_branch2c bn4b35_branch2c scale4b35_branch2c res4b35 res4b35_relu res5a_branch2a bn5a_branch2a scale5a_branch2a res5a_branch2a_relu res5a_branch2b bn5a_branch2b scale5a_branch2b res5a_branch2b_relu res5a_branch2c bn5a_branch2c scale5a_branch2c res5a_branch1 bn5a_branch1 scale5a_branch1 res5a res5a_relu res5b_branch2a bn5b_branch2a scale5b_branch2a res5b_branch2a_relu res5b_branch2b bn5b_branch2b scale5b_branch2b res5b_branch2b_relu res5b_branch2c bn5b_branch2c scale5b_branch2c res5b res5b_relu res5c_branch2a bn5c_branch2a scale5c_branch2a res5c_branch2a_relu res5c_branch2b bn5c_branch2b scale5c_branch2b res5c_branch2b_relu res5c_branch2c bn5c_branch2c scale5c_branch2c res5c res5c_relu pool5 fc1000 prob ResNet-152 data conv1 bn_conv1 scale_conv1 conv1_relu pool1 res2a_branch2a bn2a_branch2a scale2a_branch2a res2a_branch2a_relu res2a_branch2b bn2a_branch2b scale2a_branch2b res2a_branch2b_relu res2a_branch2c bn2a_branch2c scale2a_branch2c res2a_branch1 bn2a_branch1 scale2a_branch1 res2a res2a_relu res2b_branch2a bn2b_branch2a scale2b_branch2a res2b_branch2a_relu res2b_branch2b bn2b_branch2b scale2b_branch2b res2b_branch2b_relu res2b_branch2c bn2b_branch2c scale2b_branch2c res2b res2b_relu res2c_branch2a bn2c_branch2a scale2c_branch2a res2c_branch2a_relu res2c_branch2b bn2c_branch2b scale2c_branch2b res2c_branch2b_relu res2c_branch2c bn2c_branch2c scale2c_branch2c res2c res2c_relu res3a_branch2a bn3a_branch2a scale3a_branch2a res3a_branch2a_relu res3a_branch2b bn3a_branch2b scale3a_branch2b res3a_branch2b_relu res3a_branch2c bn3a_branch2c scale3a_branch2c res3a_branch1 bn3a_branch1 scale3a_branch1 res3a res3a_relu res3b1_branch2a bn3b1_branch2a scale3b1_branch2a res3b1_branch2a_relu res3b1_branch2b bn3b1_branch2b scale3b1_branch2b res3b1_branch2b_relu res3b1_branch2c bn3b1_branch2c scale3b1_branch2c res3b1 res3b1_relu res3b2_branch2a bn3b2_branch2a scale3b2_branch2a res3b2_branch2a_relu res3b2_branch2b bn3b2_branch2b scale3b2_branch2b res3b2_branch2b_relu res3b2_branch2c bn3b2_branch2c scale3b2_branch2c res3b2 res3b2_relu res3b3_branch2a bn3b3_branch2a scale3b3_branch2a res3b3_branch2a_relu res3b3_branch2b bn3b3_branch2b scale3b3_branch2b res3b3_branch2b_relu res3b3_branch2c bn3b3_branch2c scale3b3_branch2c res3b3 res3b3_relu res3b4_branch2a bn3b4_branch2a scale3b4_branch2a res3b4_branch2a_relu res3b4_branch2b bn3b4_branch2b scale3b4_branch2b res3b4_branch2b_relu res3b4_branch2c bn3b4_branch2c scale3b4_branch2c res3b4 res3b4_relu res3b5_branch2a bn3b5_branch2a scale3b5_branch2a res3b5_branch2a_relu res3b5_branch2b bn3b5_branch2b scale3b5_branch2b res3b5_branch2b_relu res3b5_branch2c bn3b5_branch2c scale3b5_branch2c res3b5 res3b5_relu res3b6_branch2a bn3b6_branch2a scale3b6_branch2a res3b6_branch2a_relu res3b6_branch2b bn3b6_branch2b scale3b6_branch2b res3b6_branch2b_relu res3b6_branch2c bn3b6_branch2c scale3b6_branch2c res3b6 res3b6_relu res3b7_branch2a bn3b7_branch2a scale3b7_branch2a res3b7_branch2a_relu res3b7_branch2b bn3b7_branch2b scale3b7_branch2b res3b7_branch2b_relu res3b7_branch2c bn3b7_branch2c scale3b7_branch2c res3b7 res3b7_relu res4a_branch2a bn4a_branch2a scale4a_branch2a res4a_branch2a_relu res4a_branch2b bn4a_branch2b scale4a_branch2b res4a_branch2b_relu res4a_branch2c bn4a_branch2c scale4a_branch2c res4a_branch1 bn4a_branch1 scale4a_branch1 res4a res4a_relu res4b1_branch2a bn4b1_branch2a scale4b1_branch2a res4b1_branch2a_relu res4b1_branch2b bn4b1_branch2b scale4b1_branch2b res4b1_branch2b_relu res4b1_branch2c bn4b1_branch2c scale4b1_branch2c res4b1 res4b1_relu res4b2_branch2a bn4b2_branch2a scale4b2_branch2a res4b2_branch2a_relu res4b2_branch2b bn4b2_branch2b scale4b2_branch2b res4b2_branch2b_relu res4b2_branch2c bn4b2_branch2c scale4b2_branch2c res4b2 res4b2_relu res4b3_branch2a bn4b3_branch2a scale4b3_branch2a res4b3_branch2a_relu res4b3_branch2b bn4b3_branch2b scale4b3_branch2b res4b3_branch2b_relu res4b3_branch2c bn4b3_branch2c scale4b3_branch2c res4b3 res4b3_relu res4b4_branch2a bn4b4_branch2a scale4b4_branch2a res4b4_branch2a_relu res4b4_branch2b bn4b4_branch2b scale4b4_branch2b res4b4_branch2b_relu res4b4_branch2c bn4b4_branch2c scale4b4_branch2c res4b4 res4b4_relu res4b5_branch2a bn4b5_branch2a scale4b5_branch2a res4b5_branch2a_relu res4b5_branch2b bn4b5_branch2b scale4b5_branch2b res4b5_branch2b_relu res4b5_branch2c bn4b5_branch2c scale4b5_branch2c res4b5 res4b5_relu res4b6_branch2a bn4b6_branch2a scale4b6_branch2a res4b6_branch2a_relu res4b6_branch2b bn4b6_branch2b scale4b6_branch2b res4b6_branch2b_relu res4b6_branch2c bn4b6_branch2c scale4b6_branch2c res4b6 res4b6_relu res4b7_branch2a bn4b7_branch2a scale4b7_branch2a res4b7_branch2a_relu res4b20_branch2b bn4b20_branch2b scale4b20_branch2b res4b20_branch2b_relu res4b20_branch2c bn4b20_branch2c scale4b20_branch2c res4b20 res4b20_relu res4b21_branch2a bn4b21_branch2a scale4b21_branch2a res4b21_branch2a_relu res4b21_branch2b bn4b21_branch2b scale4b21_branch2b res4b21_branch2b_relu res4b21_branch2c bn4b21_branch2c scale4b21_branch2c res4b21 res4b21_relu res4b22_branch2a bn4b22_branch2a scale4b22_branch2a res4b22_branch2a_relu res4b22_branch2b bn4b22_branch2b scale4b22_branch2b res4b22_branch2b_relu res4b22_branch2c bn4b22_branch2c scale4b22_branch2c res4b22 res4b22_relu res4b23_branch2a bn4b23_branch2a scale4b23_branch2a res4b23_branch2a_relu res4b23_branch2b bn4b23_branch2b scale4b23_branch2b res4b23_branch2b_relu res4b23_branch2c bn4b23_branch2c scale4b23_branch2c res4b23 res4b23_relu res4b24_branch2a bn4b24_branch2a scale4b24_branch2a res4b24_branch2a_relu res4b24_branch2b bn4b24_branch2b scale4b24_branch2b res4b24_branch2b_relu res4b24_branch2c bn4b24_branch2c scale4b24_branch2c res4b24 res4b24_relu res4b25_branch2a bn4b25_branch2a scale4b25_branch2a res4b25_branch2a_relu res4b25_branch2b bn4b25_branch2b scale4b25_branch2b res4b25_branch2b_relu res4b25_branch2c bn4b25_branch2c scale4b25_branch2c res4b25 res4b25_relu res4b26_branch2a bn4b26_branch2a scale4b26_branch2a res4b26_branch2a_relu res4b26_branch2b bn4b26_branch2b scale4b26_branch2b res4b26_branch2b_relu res4b26_branch2c bn4b26_branch2c scale4b26_branch2c res4b26 res4b26_relu res4b27_branch2a bn4b27_branch2a scale4b27_branch2a res4b27_branch2a_relu res4b27_branch2b bn4b27_branch2b scale4b27_branch2b res4b27_branch2b_relu res4b27_branch2c bn4b27_branch2c scale4b27_branch2c res4b27 res4b27_relu res4b28_branch2a bn4b28_branch2a scale4b28_branch2a res4b28_branch2a_relu res4b28_branch2b bn4b28_branch2b scale4b28_branch2b res4b28_branch2b_relu res4b28_branch2c bn4b28_branch2c scale4b28_branch2c res4b28 res4b28_relu res4b29_branch2a bn4b29_branch2a scale4b29_branch2a res4b29_branch2a_relu res4b29_branch2b bn4b29_branch2b scale4b29_branch2b res4b29_branch2b_relu res4b29_branch2c bn4b29_branch2c scale4b29_branch2c res4b29 res4b29_relu res4b30_branch2a bn4b30_branch2a scale4b30_branch2a res4b30_branch2a_relu res4b30_branch2b bn4b30_branch2b scale4b30_branch2b res4b30_branch2b_relu res4b30_branch2c bn4b30_branch2c scale4b30_branch2c res4b30 res4b30_relu res4b31_branch2a bn4b31_branch2a scale4b31_branch2a res4b31_branch2a_relu res4b31_branch2b bn4b31_branch2b scale4b31_branch2b res4b31_branch2b_relu res4b31_branch2c bn4b31_branch2c scale4b31_branch2c res4b31 res4b31_relu res4b32_branch2a bn4b32_branch2a scale4b32_branch2a res4b32_branch2a_relu res4b32_branch2b bn4b32_branch2b scale4b32_branch2b res4b32_branch2b_relu res4b32_branch2c bn4b32_branch2c scale4b32_branch2c res4b32 res4b32_relu res4b33_branch2a bn4b33_branch2a scale4b33_branch2a res4b33_branch2a_relu res4b33_branch2b bn4b33_branch2b scale4b33_branch2b res4b33_branch2b_relu res4b33_branch2c bn4b33_branch2c scale4b33_branch2c res4b33 res4b33_relu res4b34_branch2a bn4b34_branch2a scale4b34_branch2a res4b34_branch2a_relu res4b34_branch2b bn4b34_branch2b scale4b34_branch2b res4b34_branch2b_relu res4b34_branch2c bn4b34_branch2c scale4b34_branch2c res4b34 res4b34_relu res4b35_branch2a bn4b35_branch2a scale4b35_branch2a res4b35_branch2a_relu res4b35_branch2b bn4b35_branch2b scale4b35_branch2b res4b35_branch2b_relu res4b35_branch2c bn4b35_branch2c scale4b35_branch2c res4b35 res4b35_relu res5a_branch2a bn5a_branch2a scale5a_branch2a res5a_branch2a_relu res5a_branch2b bn5a_branch2b scale5a_branch2b res5a_branch2b_relu res5a_branch2c bn5a_branch2c scale5a_branch2c res5a_branch1 bn5a_branch1 scale5a_branch1 res5a res5a_relu res5b_branch2a bn5b_branch2a scale5b_branch2a res5b_branch2a_relu res5b_branch2b bn5b_branch2b scale5b_branch2b res5b_branch2b_relu res5b_branch2c bn5b_branch2c scale5b_branch2c res5b res5b_relu res5c_branch2a bn5c_branch2a scale5c_branch2a res5c_branch2a_relu res5c_branch2b bn5c_branch2b scale5c_branch2b res5c_branch2b_relu res5c_branch2c bn5c_branch2c scale5c_branch2c res5c res5c_relu pool5 fc1000 prob res4b20_branch2b bn4b20_branch2b scale4b20_branch2b res4b20_branch2b_relu res4b20_branch2c bn4b20_branch2c scale4b20_branch2c res4b20 res4b20_relu res4b21_branch2a bn4b21_branch2a scale4b21_branch2a res4b21_branch2a_relu res4b21_branch2b bn4b21_branch2b scale4b21_branch2b res4b21_branch2b_relu res4b21_branch2c bn4b21_branch2c scale4b21_branch2c res4b21 res4b21_relu res4b22_branch2a bn4b22_branch2a scale4b22_branch2a res4b22_branch2a_relu res4b22_branch2b bn4b22_branch2b scale4b22_branch2b res4b22_branch2b_relu res4b22_branch2c bn4b22_branch2c scale4b22_branch2c res4b22 res4b22_relu res4b23_branch2a bn4b23_branch2a scale4b23_branch2a res4b23_branch2a_relu res4b23_branch2b bn4b23_branch2b scale4b23_branch2b res4b23_branch2b_relu res4b23_branch2c bn4b23_branch2c scale4b23_branch2c res4b23 res4b23_relu res4b24_branch2a bn4b24_branch2a scale4b24_branch2a res4b24_branch2a_relu res4b24_branch2b bn4b24_branch2b scale4b24_branch2b res4b24_branch2b_relu res4b24_branch2c bn4b24_branch2c scale4b24_branch2c res4b24

20. 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR ResNet-152 data conv1 bn_conv1 scale_conv1 conv1_relu pool1 res2a_branch2a bn2a_branch2a scale2a_branch2a res2a_branch2a_relu res2a_branch2b bn2a_branch2b scale2a_branch2b res2a_branch2b_relu res2a_branch2c bn2a_branch2c scale2a_branch2c res2a_branch1 bn2a_branch1 scale2a_branch1 res2a res2a_relu res2b_branch2a bn2b_branch2a scale2b_branch2a res2b_branch2a_relu res2b_branch2b bn2b_branch2b scale2b_branch2b res2b_branch2b_relu res2b_branch2c bn2b_branch2c scale2b_branch2c res2b res2b_relu res2c_branch2a bn2c_branch2a scale2c_branch2a res2c_branch2a_relu res2c_branch2b bn2c_branch2b scale2c_branch2b res2c_branch2b_relu res2c_branch2c bn2c_branch2c scale2c_branch2c res2c res2c_relu res3a_branch2a bn3a_branch2a scale3a_branch2a res3a_branch2a_relu res3a_branch2b bn3a_branch2b scale3a_branch2b res3a_branch2b_relu res3a_branch2c bn3a_branch2c scale3a_branch2c res3a_branch1 bn3a_branch1 scale3a_branch1 res3a res3a_relu res3b1_branch2a bn3b1_branch2a scale3b1_branch2a res3b1_branch2a_relu res3b1_branch2b bn3b1_branch2b scale3b1_branch2b res3b1_branch2b_relu res3b1_branch2c bn3b1_branch2c scale3b1_branch2c res3b1 res3b1_relu res3b2_branch2a bn3b2_branch2a scale3b2_branch2a res3b2_branch2a_relu res3b2_branch2b bn3b2_branch2b scale3b2_branch2b res3b2_branch2b_relu res3b2_branch2c bn3b2_branch2c scale3b2_branch2c res3b2 res3b2_relu res3b3_branch2a bn3b3_branch2a scale3b3_branch2a res3b3_branch2a_relu res3b3_branch2b bn3b3_branch2b scale3b3_branch2b res3b3_branch2b_relu res3b3_branch2c bn3b3_branch2c scale3b3_branch2c res3b3 res3b3_relu res3b4_branch2a bn3b4_branch2a scale3b4_branch2a res3b4_branch2a_relu res3b4_branch2b bn3b4_branch2b scale3b4_branch2b res3b4_branch2b_relu res3b4_branch2c bn3b4_branch2c scale3b4_branch2c res3b4 res3b4_relu res3b5_branch2a bn3b5_branch2a scale3b5_branch2a res3b5_branch2a_relu res3b5_branch2b bn3b5_branch2b scale3b5_branch2b res3b5_branch2b_relu res3b5_branch2c bn3b5_branch2c scale3b5_branch2c res3b5 res3b5_relu res3b6_branch2a bn3b6_branch2a scale3b6_branch2a res3b6_branch2a_relu res3b6_branch2b bn3b6_branch2b scale3b6_branch2b res3b6_branch2b_relu res3b6_branch2c bn3b6_branch2c scale3b6_branch2c res3b6 res3b6_relu res3b7_branch2a bn3b7_branch2a scale3b7_branch2a res3b7_branch2a_relu res3b7_branch2b bn3b7_branch2b scale3b7_branch2b res3b7_branch2b_relu res3b7_branch2c bn3b7_branch2c scale3b7_branch2c res3b7 res3b7_relu res4a_branch2a bn4a_branch2a scale4a_branch2a res4a_branch2a_relu res4a_branch2b bn4a_branch2b scale4a_branch2b res4a_branch2b_relu res4a_branch2c bn4a_branch2c scale4a_branch2c res4a_branch1 bn4a_branch1 scale4a_branch1 res4a res4a_relu res4b1_branch2a bn4b1_branch2a scale4b1_branch2a res4b1_branch2a_relu res4b1_branch2b bn4b1_branch2b scale4b1_branch2b res4b1_branch2b_relu res4b1_branch2c bn4b1_branch2c scale4b1_branch2c res4b1 res4b1_relu res4b2_branch2a bn4b2_branch2a scale4b2_branch2a res4b2_branch2a_relu res4b2_branch2b bn4b2_branch2b scale4b2_branch2b res4b2_branch2b_relu res4b2_branch2c bn4b2_branch2c scale4b2_branch2c res4b2 res4b2_relu res4b3_branch2a bn4b3_branch2a scale4b3_branch2a res4b3_branch2a_relu res4b3_branch2b bn4b3_branch2b scale4b3_branch2b res4b3_branch2b_relu res4b3_branch2c bn4b3_branch2c scale4b3_branch2c res4b3 res4b3_relu res4b4_branch2a bn4b4_branch2a scale4b4_branch2a res4b4_branch2a_relu res4b4_branch2b bn4b4_branch2b scale4b4_branch2b res4b4_branch2b_relu res4b4_branch2c bn4b4_branch2c scale4b4_branch2c res4b4 res4b4_relu res4b5_branch2a bn4b5_branch2a scale4b5_branch2a res4b5_branch2a_relu res4b5_branch2b bn4b5_branch2b scale4b5_branch2b res4b5_branch2b_relu res4b5_branch2c bn4b5_branch2c scale4b5_branch2c res4b5 res4b5_relu res4b6_branch2a bn4b6_branch2a scale4b6_branch2a res4b6_branch2a_relu res4b6_branch2b bn4b6_branch2b scale4b6_branch2b res4b6_branch2b_relu res4b6_branch2c bn4b6_branch2c scale4b6_branch2c res4b6 res4b6_relu res4b7_branch2a bn4b7_branch2a scale4b7_branch2a res4b7_branch2a_relu res4b20_branch2b bn4b20_branch2b scale4b20_branch2b res4b20_branch2b_relu res4b20_branch2c bn4b20_branch2c scale4b20_branch2c res4b20 res4b20_relu res4b21_branch2a bn4b21_branch2a scale4b21_branch2a res4b21_branch2a_relu res4b21_branch2b bn4b21_branch2b scale4b21_branch2b res4b21_branch2b_relu res4b21_branch2c bn4b21_branch2c scale4b21_branch2c res4b21 res4b21_relu res4b22_branch2a bn4b22_branch2a scale4b22_branch2a res4b22_branch2a_relu res4b22_branch2b bn4b22_branch2b scale4b22_branch2b res4b22_branch2b_relu res4b22_branch2c bn4b22_branch2c scale4b22_branch2c res4b22 res4b22_relu res4b23_branch2a bn4b23_branch2a scale4b23_branch2a res4b23_branch2a_relu res4b23_branch2b bn4b23_branch2b scale4b23_branch2b res4b23_branch2b_relu res4b23_branch2c bn4b23_branch2c scale4b23_branch2c res4b23 res4b23_relu res4b24_branch2a bn4b24_branch2a scale4b24_branch2a res4b24_branch2a_relu res4b24_branch2b bn4b24_branch2b scale4b24_branch2b res4b24_branch2b_relu res4b24_branch2c bn4b24_branch2c scale4b24_branch2c res4b24 res4b24_relu res4b25_branch2a bn4b25_branch2a scale4b25_branch2a res4b25_branch2a_relu res4b25_branch2b bn4b25_branch2b scale4b25_branch2b res4b25_branch2b_relu res4b25_branch2c bn4b25_branch2c scale4b25_branch2c res4b25 res4b25_relu res4b26_branch2a bn4b26_branch2a scale4b26_branch2a res4b26_branch2a_relu res4b26_branch2b bn4b26_branch2b scale4b26_branch2b res4b26_branch2b_relu res4b26_branch2c bn4b26_branch2c scale4b26_branch2c res4b26 res4b26_relu res4b27_branch2a bn4b27_branch2a scale4b27_branch2a res4b27_branch2a_relu res4b27_branch2b bn4b27_branch2b scale4b27_branch2b res4b27_branch2b_relu res4b27_branch2c bn4b27_branch2c scale4b27_branch2c res4b27 res4b27_relu res4b28_branch2a bn4b28_branch2a scale4b28_branch2a res4b28_branch2a_relu res4b28_branch2b bn4b28_branch2b scale4b28_branch2b res4b28_branch2b_relu res4b28_branch2c bn4b28_branch2c scale4b28_branch2c res4b28 res4b28_relu res4b29_branch2a bn4b29_branch2a scale4b29_branch2a res4b29_branch2a_relu res4b29_branch2b bn4b29_branch2b scale4b29_branch2b res4b29_branch2b_relu res4b29_branch2c bn4b29_branch2c scale4b29_branch2c res4b29 res4b29_relu res4b30_branch2a bn4b30_branch2a scale4b30_branch2a res4b30_branch2a_relu res4b30_branch2b bn4b30_branch2b scale4b30_branch2b res4b30_branch2b_relu res4b30_branch2c bn4b30_branch2c scale4b30_branch2c res4b30 res4b30_relu res4b31_branch2a bn4b31_branch2a scale4b31_branch2a res4b31_branch2a_relu res4b31_branch2b bn4b31_branch2b scale4b31_branch2b res4b31_branch2b_relu res4b31_branch2c bn4b31_branch2c scale4b31_branch2c res4b31 res4b31_relu res4b32_branch2a bn4b32_branch2a scale4b32_branch2a res4b32_branch2a_relu res4b32_branch2b bn4b32_branch2b scale4b32_branch2b res4b32_branch2b_relu res4b32_branch2c bn4b32_branch2c scale4b32_branch2c res4b32 res4b32_relu res4b33_branch2a bn4b33_branch2a scale4b33_branch2a res4b33_branch2a_relu res4b33_branch2b bn4b33_branch2b scale4b33_branch2b res4b33_branch2b_relu res4b33_branch2c bn4b33_branch2c scale4b33_branch2c res4b33 res4b33_relu res4b34_branch2a bn4b34_branch2a scale4b34_branch2a res4b34_branch2a_relu res4b34_branch2b bn4b34_branch2b scale4b34_branch2b res4b34_branch2b_relu res4b34_branch2c bn4b34_branch2c scale4b34_branch2c res4b34 res4b34_relu res4b35_branch2a bn4b35_branch2a scale4b35_branch2a res4b35_branch2a_relu res4b35_branch2b bn4b35_branch2b scale4b35_branch2b res4b35_branch2b_relu res4b35_branch2c bn4b35_branch2c scale4b35_branch2c res4b35 res4b35_relu res5a_branch2a bn5a_branch2a scale5a_branch2a res5a_branch2a_relu res5a_branch2b bn5a_branch2b scale5a_branch2b res5a_branch2b_relu res5a_branch2c bn5a_branch2c scale5a_branch2c res5a_branch1 bn5a_branch1 scale5a_branch1 res5a res5a_relu res5b_branch2a bn5b_branch2a scale5b_branch2a res5b_branch2a_relu res5b_branch2b bn5b_branch2b scale5b_branch2b res5b_branch2b_relu res5b_branch2c bn5b_branch2c scale5b_branch2c res5b res5b_relu res5c_branch2a bn5c_branch2a scale5c_branch2a res5c_branch2a_relu res5c_branch2b bn5c_branch2b scale5c_branch2b res5c_branch2b_relu res5c_branch2c bn5c_branch2c scale5c_branch2c res5c res5c_relu pool5 fc1000 prob 0.00 50.00 100.00 150.00 200.00 250.00 300.00 350.00 [ms] TX2 Server Transmit

26. 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR ··· x x x 1 j d ······ w1 w2 wK softmax v1 v2 v3

27. 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR w c M yα (Algorithm1)[13] k c yα ≈ cT M, (6) ×

28. 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR cT N MT N cT 1 MT 1 cT N MT N cT 1 MT 1

29. 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR d max(x) min(x) d

30. 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR y = wT x ⇡ cT MT x ⇡ cT MT (Br + min(x)1) cT MT = cT MT Br + min(x)cT MT 1

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エッジにおける深層学習の推論処理の効率化