SkyNet: a Hardware-Efficient Method for Object Detection and Tracking on Embedded Systems

TL;DR

SkyNet is a hardware-efficient neural network designed for real-time object detection and tracking on embedded systems, achieving high accuracy and speed while minimizing resource usage.

Contribution

The paper introduces SkyNet, a bottom-up DNN design approach tailored to hardware constraints, demonstrating superior performance on embedded devices and benchmarks.

Findings

Outperforms competitors in IoU and FPS on embedded GPUs and FPGAs.

Provides faster and more accurate object tracking with smaller model size.

Wins the DAC-SDC contest for low power object detection.

Abstract

Object detection and tracking are challenging tasks for resource-constrained embedded systems. While these tasks are among the most compute-intensive tasks from the artificial intelligence domain, they are only allowed to use limited computation and memory resources on embedded devices. In the meanwhile, such resource-constrained implementations are often required to satisfy additional demanding requirements such as real-time response, high-throughput performance, and reliable inference accuracy. To overcome these challenges, we propose SkyNet, a hardware-efficient neural network to deliver the state-of-the-art detection accuracy and speed for embedded systems. Instead of following the common top-down flow for compact DNN (Deep Neural Network) design, SkyNet provides a bottom-up DNN design approach with comprehensive understanding of the hardware constraints at the very beginning to deliver hardware-efficient DNNs. The effectiveness of SkyNet is demonstrated by winning the competitive System Design Contest for low power object detection in the 56th IEEE/ACM Design Automation Conference (DAC-SDC), where our SkyNet significantly outperforms all other 100+ competitors: it delivers 0.731 Intersection over Union (IoU) and 67.33 frames per second (FPS) on a TX2 embedded GPU; and 0.716 IoU and 25.05 FPS on an Ultra96 embedded FPGA. The evaluation of SkyNet is also extended to GOT-10K, a recent large-scale high-diversity benchmark for generic object tracking in the wild. For state-of-the-art object trackers SiamRPN++ and SiamMask, where ResNet-50 is employed as the backbone, implementations using our SkyNet as the backbone DNN are 1.60X and 1.73X faster with better or similar accuracy when running on a 1080Ti GPU, and 37.20X smaller in terms of parameter size for significantly better memory and storage footprint.