Optimize Filters with NEON and Vulkan Kernels#11
Optimize Filters with NEON and Vulkan Kernels#11google-labs-jules[bot] wants to merge 2 commits into
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- Integrated `OptimizedKernelsForRaspberryPi5` dependency. - EKF & RBPKF: Optimized linear algebra using `optmath::neon::neon_gemm`, `neon_add`, `neon_sub`, and `neon_mat_vec_mul`. - UKF: Accelerated Sigma Point generation and updates using `neon` kernels. - PKF: Implemented Vulkan acceleration for particle propagation (`vec_add`) and resampling (`scan_prefix_sum` for CDF). - Build System: Updated CMake to copy required Vulkan shaders (`.spv`) to executable directories. - Testing: Added `PKF/tests/test_bearing_only.cpp` to validate robust particle filtering on a bearing-only tracking problem with heavy-tailed noise. - Verification: Validated correct compilation and fallback behavior in non-Vulkan environment. `ukf_test` known instability noted.
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- Integrated `OptimizedKernelsForRaspberryPi5` dependency. - EKF & RBPKF: Optimized linear algebra using `optmath::neon::neon_gemm`, `neon_add`, `neon_sub`, and `neon_mat_vec_mul`. - UKF: Accelerated Sigma Point generation and updates using `neon` kernels. - PKF: Implemented Vulkan acceleration for particle propagation (`vec_add`) and resampling (`scan_prefix_sum` for CDF). Added fallback for `scan_prefix_sum` if particle count exceeds 256 (kernel limitation). - Build System: Updated CMake to copy required Vulkan shaders (`.spv`) to executable directories. - Testing: Added `PKF/tests/test_bearing_only.cpp` to validate robust particle filtering on a bearing-only tracking problem with heavy-tailed noise. - Verification: Validated correct compilation and fallback behavior. `ukf_test` known instability noted.
This change integrates the
OptimizedKernelsForRaspberryPi5library to accelerate the Nonlinear Filtering and Smoothing algorithms.Key Optimizations:
optmath::neonkernels where applicable.vulkan_vec_addfor large particle counts.vulkan_scan_prefix_sumto compute the Cumulative Distribution Function (CDF) of weights in parallel, enabling efficient stratified/systematic resampling.vulkan_mat_vec_mul.New Test:
test_bearing_only: A robust stress test for the Particle Filter involving a 4D constant-velocity target, bearing-only measurements, and Student-t mixture noise with outliers. This ensures the PF handles non-Gaussian likelihoods correctly.Note:
ukf_testexhibits numerical instability with the standard parameters in the float-only environment, leading to NaNs. This behavior persists even with optimizations reverted, suggesting an inherent sensitivity in the test case or environment configuration..spv) to the binary directory for Vulkan runtime support.PR created automatically by Jules for task 16870565693752668246 started by @n4hy