End-to-End Latency Optimization of Multi-view 3D Reconstruction for Disaster Response

Abstract

In order to plan rapid response during disasters, first responder agencies often adopt ‘bring your own device’ (BYOD) model with inexpensive mobile edge devices (e.g., drones, robots, tablets) for complex video analytics applications, e.g., 3D reconstruction of a disaster scene. Unlike simpler video applications, widely used Multi-view Stereo (MVS) based 3D reconstruction applications (e.g., openMVG/openMVS) are exceedingly time consuming, especially when run on such computationally constrained mobile edge devices. Additionally, reducing the reconstruction latency of such inherently sequential algorithms is challenging as unintelligent, application-agnostic strategies can drastically degrade the reconstruction (i.e., application outcome) quality making them useless. In this paper, we aim to design a latency optimized MVS algorithm pipeline, with the objective to best balance the end-to-end latency and reconstruction quality by running the pipeline on a collaborative mobile edge environment. The overall optimization approach is two-pronged where: (a) application optimizations introduce datalevel parallelism by splitting the pipeline into high frequency and low frequency reconstruction components and (b) system optimizations incorporate task-level parallelism to the pipelines by running them opportunistically on available resources with online quality control in order to balance both latency and quality. Our evaluation on a hardware testbed using publicly available datasets shows upto $\sim 54$% reduction in latency with negligible loss $(\sim 4 -7$%) in reconstruction quality.