This paper addresses the problem of end-to-end self-supervised forecasting of depth and ego motion. Given a sequence of raw images, the aim is to forecast both the geometry and ego-motion using a self supervised photometric loss. The architecture is designed using both convolution and transformer modules. This leverages the benefits of both modules: Inductive bias of CNN, and the multi-head attention of transformers, thus enabling a rich spatio-temporal representation that enables accurate depth forecasting. Prior work attempts to solve this problem using multi-modal input/output with supervised ground-truth data which is not practical since a large annotated dataset is required. Alternatively to prior methods, this paper forecasts depth and ego motion using only self-supervised raw images as input. The approach performs significantly well on the KITTI dataset benchmark with several performance criteria being even comparable to prior non-forecasting self-supervised monocular depth inference methods.

In this paper, we propose a new implementation of the Extended Min-Sum (EMS) decoder for non-binary LDPC codes. A particularity of the new algorithm is that it takes into accounts the memory problem of the non-binary LDPC decoders, together with a significant complexity reduction per decoding iteration. The key feature of our decoder is to truncate the vector messages of the decoder to a limited number nmof values in order to reduce the memory requirements. Using the truncated messages, we propose an efficient implementation of the EMS decoder which reduces the order of complexity to ¿(nmlog2nm). This complexity starts to be reasonable enough to compete with binary decoders. The performance of the low complexity algorithm with proper compensation is quite good with respect to the important complexity reduction, which is shown both with a simulated density evolution approach and actual simulations.

In this paper, we propose and study a new family of error-correcting codes. These achieve excellent error performance under an iterative decoding over the binary-input noisy channel and solves the memory space requirements problem of the non-binary LDPC decoders. We named this class of codes, Split non-binary LDPC codes. The main particularity of this new family of codes is that the variable and the check nodes are not defined over the same finite field GF(2p), like in the case of classical non-binary LDPC codes. The class of Split non-binary LDPC codes is obviously larger than that of existing types of codes, which gives more degrees of freedom to find good codes when the existing codes show their limits. We provide two examples of interesting split NB-LDPC codes.

In this paper, we propose a new implementation of the EMS decoder for non binary LDPC codes presented in (D. Declencq and M. Fossorier, 2007). A particularity of the new algorithm is that it takes into accounts the memory problem of the non binary LDPC decoders, together with a significant complexity reduction per decoding iteration. The key feature of our decoder is to truncate the vector messages of the decoder to a limited number nm of values in order to reduce the memory requirements. Using the truncated messages, we propose an efficient implementation of the EMS decoder which reduces the order of complexity to O(nmlog2nm), which starts to be reasonable enough to compete with binary decoders. The performance of the low complexity algorithm with proper compensation are quite good with respect to the important complexity reduction, which is shown both with a simulated density evolution approach and actual FER simulations.