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Deep Learning for Edge Computing
Applications: A State-of-the-art Survey
FANGXIN WANG1(Student Member, IEEE), MIAO ZHANG1, XIANGXIANG WANG1,
XIAOQIANG MA2, AND JIANGCHUAN LIU1(Fellow, IEEE)
1School of Computing Science, Simon Fraser University, Burnaby, BC V5A 1S6, Canada
2School of Electronic Information and Communications, Huazhong University of Science and Technology, Wuhan 430074, China
Corresponding Author: Xiaoqiang Ma (mxqhust@gmail.com).
This work was supported in part by a Canada NSERC Discovery Grant and the National Natural Science Foundation of China under Grant
61702204.
ABSTRACT
With the booming development of Internet-of-Things (IoT) and communication technologies such as
5G, our future world is envisioned as an interconnected entity where billions of devices will provide
uninterrupted service to our daily lives and the industry. Meanwhile, these devices will generate massive
amounts of valuable data at the network edge, calling for not only instant data processing but also intelligent
data analysis in order to fully unleash the potential of the edge big data. Both the traditional cloud computing
and on-device computing cannot sufficiently address this problem due to the high latency and the limited
computation capacity, respectively. Fortunately, the emerging edge computing sheds a light on the issue by
pushing the data processing from the remote network core to the local network edge, remarkably reducing
the latency and improving the efficiency. Besides, the recent breakthroughs in deep learning have greatly
facilitated the data processing capacity, enabling a thrilling development of novel applications, such as video
surveillance and autonomous driving. The convergence of edge computing and deep learning is believed
to bring new possibilities to both interdisciplinary researches and industrial applications. In this article,
we provide a comprehensive survey of the latest efforts on the deep-learning-enabled edge computing
applications and particularly offer insights on how to leverage the deep learning advances to facilitate edge
applications from four domains, i.e., smart multimedia, smart transportation, smart city, and smart industry.
We also highlight the key research challenges and promising research directions therein. We believe this
survey will inspire more researches and contributions in this promising field.
INDEX TERMS Internet of Things, Edge Computing, Deep Learning, Intelligent Edge Applications.
I. INTRODUCTION
With the explosive development of the Internet-of-Things
(IoT) as well as the communication technologies such as
WiFi and 5G, our future world is envisioned as an inter-
connected entity where billions of digital devices would
provide uninterrupted services to both our daily lives and the
industry. As reported by Cisco [1], there will be more than
50 billion IoT devices connected by the Internet by 2020.
Such numerous IoT devices will generate a myriad of valu-
able data which, once being well processed effectively and
efficiently, can empower many groundbreaking applications.
Traditional computing architecture relies on cloud computing
to provide sufficient computation capacity and sustainable
energy. In this system, IoT devices are responsible to collect
the data and deliver it to the remote powerful cloud, and
the cloud servers will carry out the computation-intensive
tasks and distributed the result back. However, the large
latency caused by the long physical distance can sometimes
become unacceptable, especially for those latency-sensitive
applications like autonomous driving and highly interactive
applications such as VR gaming. In addition, the huge data
communication also greatly increases the pressure of the
backbone network, bringing large overhead and cost to ser-
vice providers.
The emerging edge computing [2] provides a promising
solution for this problem. Though with many representa-
tion forms, such as fog computing [3] and cloudlet [4],
the basic idea of edge computing is that the computation
capacity should be deployed close to the data source for
data processing, rather than transmitting the data to places
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Edge
Nodes
Edge Computing Deep Learning
Applications
FIGURE 1: The illustration of deep learning enabled edge computing applications.
with computation power. In this way, massive numbers of
servers are deployed at the edge of the network and the tasks
at IoT end devices can be offloaded to the edge servers for
instant processing. The paradigm of edge computing brings
many benefits compared to cloud computing. First, since
data computing happens closer to the data source, the com-
munication latency can be largely reduced, facilitating the
development of latency-sensitive applications. Besides, local
computation can better protect data privacy and application
security. Last but not least, data processing at the network
edge can effectively reduce traffic at the backbone network
so as to alleviate the network pressure.
Deep learning has made remarkable breakthroughs in re-
cent years due to the powerful perception ability. It has been
widely used in various fields such as computer vision [5] and
natural language processing [6]. Besides, its performance in
computer and chess games, e.g., Atari Games [7] and the
game of Go [8], even exceeds the best level of human players.
The confluence of edge computing and deep learning will
undoubtedly sheds a light on address the current challenges,
enabling more desirable applications. On one hand, the ap-
plications of edge computing urgently need the powerful pro-
cessing capabilities of deep learning to handle various com-
plicated scenarios, such as video analytics [9], transporta-
tion control [10], etc. On the other hand, edge computing
has provided specifically designed hardware foundations and
platforms to better support deep learning running at the edge,
e.g., the light-weighted Nvidia Jetson TX2 developing kit1.
Though lots of pioneer efforts have been made towards deep-
learning-enabled edge computing applications, this field is
still in the infant stage.
Several existing surveys have investigated the convergence
of deep learning and edge computing in the literature. Han et
1https://developer.nvidia.com/embedded/jetson-tx2
al. [11] presented their understanding on edge computing and
deep learning from five aspects, while they did not make a
comprehensive and in-depth overview from the perspective
of applications. Similarly, Chen et al. [12] focused on mul-
tiple aspects in deep learning and edge computing, but only
mentioned a general abstraction for those emerging applica-
tions. Zhou et al. [13] mainly focused on the deep learning
model training and inference with edge computing. There are
also a series of surveys for mobile edge computing [2], [14]–
[16] and deep learning [17], [18], respectively, while they
focused on either of them without a comprehensive review
on the combination. Therefore, a complete survey on the
current cutting-edge researches is required at this time to
provide a comprehensive review on deep-learning-enabled
edge computing applications and illuminate the potential
future directions.
To fulfill this gap, in this article, we focus on the con-
fluence of edge computing and deep learning, and conduct
an up-to-date literature review on the latest advances of
leveraging deep learning to empower the edge computing
applications, as illustrated in Fig. 1. We first provide a brief
overview of edge computing and deep learning on concepts,
advantages as well as representative technologies. We then
summarize the deep-learning-enabled edge computing appli-
cations into four representative domains, i.e., smart multi-
media, smart transportation, smart city and smart industry,
which cover a series of crucial applications like video analyt-
ics, autonomous driving, intelligent traffic control, industrial
manufacturing, etc. At last, we discuss some key research
challenges and promising research directions to achieve sta-
ble, robust, and practical edge learning applications. Differ-
ent from existing surveys, this article focused on the deep
learning enabled edge computing applications, presenting a
comprehensive review and highlighting the challenges and
opportunities.
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The rest of this article is organized as follows. We present
the basic paradigm understanding of edge computing and
its advantages in section II. We introduce some deep learn-
ing techniques in section III. The review of deep-learning-
enabled edge applications is summarized in section IV. We
highlight the challenges and research directions in section V.
We at last conclude this article in section VI.
II. EDGE COMPUTING OVERVIEW
The emerging edge computing in recent years has seen suc-
cessful development in various fields given its great poten-
tial in reducing latency and saving cost. Different from the
cloud computing architecture, edge computing enables data
processing at the edge of the network. On one hand, data
computing is put closer to the data source, which greatly
facilitates the development of delay-sensitive applications.
On the other hand, the network traffic is largely reduced
since the local processing avoids much data transmission,
which remarkably saves the cost. In this section, we briefly
introduce some edge computing paradigms and highlight the
key advantages of edge computing.
A. EDGE COMPUTING RELATED PARADIGMS
The key component in edge computing is the edge devices,
which are usually edge servers located closer at the network
end for data processing, communication, caching, etc. There
are also some other paradigms or technologies that share
similar concepts with edge computing. We next discuss and
differentiate some typical paradigms that are related to edge
computing.
1) Cloudlet
Cloudlet, initiated by Carnegie Mellon University, is en-
visioned as small clusters with certain computation and
storage capabilities deployed near the mobile devices such
as buildings and shopping centers for assisted processing,
offloading, caching, etc. Cloudlet usually utilizes virtualiza-
tion management technologies [4] to better support mobile
applications. And an important target of cloudlet is to bring
the cloud advances to mobile users [19], achieving more
low-latency and resourceful processing. Micro data centers
(MDCs) [20], initiated by Microsoft that are similar to the
concept of cloudlet, are a small-scaled version of data centers
to extend the hyperspace cloud data centers. Different MDCs
are connected by the backbone network to achieve more effi-
cient and intelligent computation, caching, and management.
MDC also serves as an important role in managing numerous
Internet of Things (IoT) devices [21].
2) Fog Computing
Fog computing [3], first proposed by Cisco, is a computing
paradigm that aims to bring cloud computing services to the
end of the enterprise network. In fog computing, the data
processing is carried out at fog nodes, which are usually de-
ployed at the network gateway. The fog computing presents
a high-level platform that the numerous IoT devices can be
interconnected through the distributed fog nodes to provide
collaborative services [22]. The fog nodes are also mainly
designed to provide better support for the IoT devices. From
this perspective, compared to other similar edge computing
paradigms, fog computing often stands in alignment with IoT
and emphasizes more on the end side.
3) Mobile Edge Computing
The paradigm of mobile edge computing was first standard-
ized by European Telecommunications Standards Institute
(ETSI) [23], which aims to provide sufficient computing
capacities within the radio access network (RAN). It envi-
sions that the computing capacities are placed at the end of
the cellular network, e.g., the wireless base stations. Since
base stations are the important access gate for numerous
IoT devices, mobile edge computing could provide direct
service to the end devices through only one hop, bringing
great convenience for IoT data processing [16].
B. ADVANTAGES OF EDGE COMPUTING
Compared to traditional cloud computing, edge computing
has many unique advantages, including low latency, energy
saving, context-aware service, and privacy as well as security.
We next summarize them as follows.
1) Low Latency
Since edge devices are placed closer to end devices, which
are usually both the data source and the transmission tar-
get of processing results, the transmission latency can be
largely reduced compared to the cloud computing scenario.
For example, the transmission latency is usually tens (or
hundreds) of milliseconds between an end user and a cloud
server, while this number is usually several milliseconds or
even at microsecond level. The emerging 5G technology
further enhances the advances of edge computing from the
perspective of low latency transmission, which empowers a
series of emerging applications, such as autonomous driv-
ing [24], virtual reality/augmented reality and healthcare-
related applications.
2) Energy Saving
Restricted by the size and usage scenarios, IoT devices
usually have quite limited energy supply, but they are also
expected to perform very complex tasks that are usually
power consuming. It is challenging to design a cost-efficient
solution to well power the numerous distributed IoT devices
given that frequent battery charging/discharging is impracti-
cal in not possible [16]. Edge computing enables the billions
of IoT devices to offload the most power-consuming compu-
tation tasks to the edge servers, which not only greatly reduce
the power consumption but also improves the processing
efficiency.
3) Context-Aware Service
Context-aware computing [25] is playing an important role in
IoT and edge computing applications, since good modeling
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Network
State
Action
observe state
Policy
Environment
(a) Restricted Boltzmann Machine
Network
State
Action
observe state
Policy
Environment
(b) Autoencoder
Network
State
Action
observe state
Policy
Environment
(c) Convolutional Neural Network
Network
State
Action
observe state
Policy
Environment
(d) Deep Neural Network
Network
State
Action
observe state
Policy
Environment
(e) Recurrent Neural Network
Network
State
Action
observe state
Policy
Environment
(f) Deep Reinforcement Learning
FIGURE 2: The structures of different deep learning models.
and reasoning of collected data can highly rely on the context
of the data. With the advantage of the proximity nature,
edge servers can collect more context information to support
the data processing. For example, in the Amazon Go super-
market, video cameras can not only record the goods that
customers select but also predict customers’ interest based
on their staying location, duration and behaviors.
4) Privacy and Security
Compared to cloud computing, edge computing is more
efficient and effective in protecting the data privacy and
application security of users. On one hand, edge servers
are usually geographically distributed clusters that could
be managed and maintained by users themselves. Sensitive
information can be monitored and protected more strictly.
On the other hand, the small-scale nature makes it more
concealed than large-scale data centers, further making it less
likely to become a target of attacks [26].
III. DEEP LEARNING METHODS
Deep learning has been widely applied in many fields with
great success [27], such as computer vision (CV), natural
language processing (NLP), and artificial intelligence (AI).
Compared to traditional machine learning methods, deep
learning has demonstrated powerful information extraction
and processing capabilities, but also requires massive com-
putation resources. The breakthroughs of deep learning have
greatly expanded the edge computing applications in various
scenarios, improving performance, efficiency, and manage-
ment. In this section, we introduce some typical deep learning
models that are widely used for edge computing applications,
including restricted Boltzmann machine (RBM), autoencoder
(AE), deep neural network (DNN), convolutional neural net-
work (CNN), recurrent neural network (RNN), and deep
reinforcement learning (DRL). The basic architectures of
these learning models are illustrated in Fig. 2.
A. RESTRICTED BOLTZMANN MACHINE
Restricted Boltzmann machine (RBM) is a kind of proba-
bilistic graphical models that can be interpreted as stochastic
neural networks [28]. A typical two-layer RBM includes a
visible layer that contains the input we know and a hid-
den layer that contains the latent variables, as described in
Fig. 2(a). RBMs are organized as a bipartite graph, where
each visible neuron is connected to all hidden neurons
and vice versa, but any two units are not connected in
the same layer. RBMs have seen successful applications in
many fields, such as collaborative filtering [29] and network
anomaly detection [30]. Multiple stacked RBM layers can
form a deep belief network (DBN), which consists of a
visible layer and multiple hidden layers. The training of a
DBN follows a layer-by-layer method, where each layer is
treated as an RBM trained on top of the previously trained
layer [31]. Many applications can benefit from the structure
of DBNs, such as fault detection classification in industrial
environments, threat identification in security alert systems,
and emotional feature extraction out of images [17].
B. AUTOENCODER
An autoencoder includes an input layer and an output layer
that are connected by one or multiple hidden layers [32],
as illustrated in Fig. 2(b). The shape of the input layer and
the output layer are the same. The AE can be divided into
two parts, i.e., an encoder and a decoder. The encoder learns
the representative characteristics of the input and transforms
it into other latent features (usually in a compressing way).
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And the decoder receives the latent features of the encoder
and aims to reconstruct the original form of the input data,
minimizing the reconstruction error. Similarly, an AE can be
formed as a deep architecture by stacking multiple layers into
the hidden layer. There are several variants and extensions
of AEs, such as sparse AE [33], denoising AE [34], and
variational AE [35].
C. DEEP NEURAL NETWORKS
Compared to the traditional artificial neural network (ANN)
that has shallow structure, deep neural network (DNN) (or
deep fully connected neural network) usually has a deeper
layer structure for more complicated learning tasks [32]. A
DNN consists of an input layer, several hidden layers, and
an output layer, where the output of each layer is fed to the
next layer with activation functions. At the last layer, the
final output representing the model prediction is produced.
Optimization algorithms such as Stochastic Gradient Decent
(SGD) [36] and backpropagation [37] are mostly used in the
training process. DNNs are widely used in feature extraction,
classification and function approximation.
D. CONVOLUTIONAL NEURAL NETWORKS
Convolutional neural networks (CNNs) are designed to pro-
cess data that comes in the form of multiple arrays, for exam-
ple, a color image composed of three 2D arrays containing
pixel intensities in the three color channels [27]. A CNN
receives 2D data structures and extracts high-level features
through convolutional layers as described in Fig. 2(c), which
is the core of CNN architecture. By going through the 2D
data with a set of moving filters and the pooling functions,
CNN extracts the spatial correlations between adjacent data
by calculating the inner product of the input and the filter. Af-
ter that, a pooling block is operated over the output to reduce
the spatial dimensions and generate a high-level abstraction.
Compared to traditional fully connected deep networks, CNN
can effectively decrease the parameter numbers of network
and extract the spatial correlations in the raw data, mitigating
the risk of overfitting [38]. The above advantages make
CNN achieve significant results in many applications, such
as object detection [39] and health monitoring [40].
E. RECURRENT NEURAL NETWORKS
Different from CNNs that are good at abstracting spatial
features, recurrent neural networks (RNNs) are designed for
processing sequential or time-series data. The input to an
RNN includes both the current sample and the previously
observed samples. Specifically, each neuron of an RNN layer
not only receives the output of its previous layer but also
receives the stored state of from previous time steps, as
depicted in Fig. 2(e). With this special architecture, RNN is
able to remember previous information for integrated pro-
cessing with the current information. However, RNNs can
only look back for a few steps due to the gradient explosion
and long-term dependencies. To solve this problem, Long
Short-Term Memory (LSTM) network [41] is proposed to
control the flow of information. In LSTM model, the forget
gate is utilized to control the cell state and decide what to
keep in the memory. Through the learning process, stored
computations in the memory cells are not distorted over time,
which particularly achieves better performance when data is
characterized in long dependency [42]. RNN and LSTM are
widely used in various sequential scenarios, such as language
processing [43] and activity recognition [44].
F. DEEP REINFORCEMENT LEARNING
Deep reinforcement learning (DRL) [7] is a combination of
deep learning (DL) and reinforcement learning (RL) [45]. It
aims to build an agent that is able to learn the best action
choices over a set of states through the interaction with the
environment, so as to maximize the long-term accumulated
rewards. Different from traditional RL, DRL utilizes a deep
neural network to represent the policy given its strong rep-
resentation ability to approximate the value function or the
direct strategy. DRL can be categorized into value-based
models, such as Deep Q-Learning (DQL), Double DQL [46]
and Duel DQL [47], and policy-gradient-based models, such
as deep deterministic policy gradient (DDPG) [48] and asyn-
chronous advantage actor-critic (A3C) [49]. The DRL has
been successfully applied in many fields, such as computer
gaming [7], chess gaming [8] and rate adaptation [50].
IV. EMPOWERING EDGE APPLICATIONS WITH DEEP
LEARNING
A. WHEN EDGE COMPUTING MEETS DEEP LEARNING
Recent years have witnessed the rapid development and the
achieved great success of edge computing and deep learning
in their respective fields. However, the massive amount of
invaluable data generated and collected at the edge side calls
for more powerful and intelligent processing capacities lo-
cally to fully unleash the underlying potentials of big data, so
as to satisfy the ever-increasing demands of various applica-
tions. Fortunately, the recent breakthroughs in deep learning
shed a light on the edge application scenarios, providing
strong ability in information perception, data management,
decision making, etc. The convergence of these two tech-
nologies can further create new opportunities, empowering
the development of many emerging applications. In fact,
edge computing has already been gradually integrated with
artificial intelligence (AI) to achieve edge intelligence. In this
rest of this section, we conduct a comprehensive overview
of state-of-the-art research works on edge computing appli-
cations with deep learning and summarize them in several
aspects, including smart multimedia, smart transportation,
smart city, and smart industry.
B. SMART MULTIMEDIA
The Internet video content has been explosively increasing
in the past years. As estimated by Cisco, the global video
traffic accounted for 75% of the Internet traffic in 2017
and is estimated to grow four-fold by 2022 [63]. Mean-
while, people are having an increasingly higher demand for
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Application Work Model Summary
Video Analytics
Ren et al. [51] R-CNN An objection detection architecture and implementation that leverages Faster R-
CNN for objection detection.
Liu et al. [52] CNN A CNN-based visual food recognition algorithms with edge computing.
DeepDecision [53] CNN, Yolo [54] A distributed infrastructure that ties end and edges to improve Yolo with higher
frame rate and accuracy.
DeepCham [55] CNN Use edge and end user to collaboratively train CNN model for better object
recognition accuracy.
Nikouei et al. [56] L-CNN Develop L-CNN for resource-constrained edge devices with reduced filter num-
bers.
Adaptive Streaming Grazia [57] RBM, Liner Classifier A multi-stage learning system integrating RMB and liner classifier for simulta-
neous video transmission with guarantees for each user.
Wang et al. [58] DRL An edge computing-assisted framework that leverages DRL to intelligently
assign user to proper edge servers.
Caching
Li et al. [59] ARIMA, MLR,kNN Consider the video propagation and popularity evolution patterns with ARIMA,
MLP, and kNN.
Zhang et al. [60] LSTM-C Propose a caching framework LSTM-C to better learn to content popularity
patterns both at long and short time scale.
Zhu et al. [61] DRL Leverage DRL to automatically learn an end-to-end caching policy.
Jiang et al. [62] MADRL Formulate the D2D caching problem as a multi-agent MAB problem and
developing a multi-agent DRL solution.
TABLE 1: Summary of deep-learning-enabled edge computing applications in the field of smart multimedia.
video content and video watching experience, calling for
more intelligent video processing, caching, and delivery, etc.
Nowadays, deep learning is integrated with edge computing
to provide both better video quality of experience (QoE) for
viewers and cost-effective functions to service providers. The
representative researches on smart multimedia applications
are summarized in Tab. 1.
1) Video Analytics
Nowadays, video analytics [9] are becoming more and more
widely used in different fields such as camera-based surveil-
lance [64] and augmented reality (AR). With the limited
processing capabilities of cameras, traditional video analytics
usually heavily rely on cloud computing for content process-
ing, i.e., the video contents are first streamed to the backend
cloud servers and the processed results are then delivered to
the frontend devices. This processing mode however brings
high latency and consumes much bandwidth, unable to sat-
isfy those latency-sensitive applications, not to mention those
realtime requirements such as object detection [51] and track-
ing [65]. The emergence of edge computing pushes the video
analytics from the remote cloud to the local edge, allowing
the video content to be processed near the data source so
as to enable quick or even realtime response. For example,
Amazon has released the world’s first deep-learning-enabled
video camera, where the locally executed deep learning func-
tion enables realtime objection even without the involvement
of the cloud.
Pioneer researches have conducted efforts towards intel-
ligent video analytics with edge computing. Ren et al. [51]
proposed an edge-computing-based object detection archi-
tecture as well as a preliminary implementation to achieve
distributed and efficient object detection via wireless com-
munications for real-time surveillance applications. They
adopted Faster R-CNN [39] for model training and object
detection, with a well-designed RoI detection algorithm to
balance the detection accuracy and the data compression
rate. Liu et al. [52] developed a CNN-based visual food
recognition algorithms to achieve the best-in-class recog-
nition accuracy, where edge computing was employed to
overcome the system latency and low battery life of mobile
devices. In DeepDecision [53], a distributed infrastructure
was proposed to tie together computationally weak frontend
devices (assumed to be smartphones) with more powerful
back-end helpers (the edges) to allow deep learning to choose
local or remote execution. This approach boosts the perfor-
mance of CNN, in particular Yolo [54], to achieve higher
frame rate and accuracy. DeepCham [55] leveraged an edge
master server coordinated with several participating users
to collaboratively train CNN model to achieve better object
recognition accuracy. LAVEA [66] built up a client-edge
collaboration system and solved an optimization offloading
problem to minimize the response time. Nikouei et al. [56]
developed a lightweight convolutional neural network (L-
CNN), which leveraged the depthwise separable convolution
feature and tailored the CNN to be furnished in the resource-
constrained edge devices with reduced filter numbers in each
layer.
2) Adaptive Streaming
Adaptive video streaming [78] is becoming a critical issue
in today’s video delivery to provide the best quality of ex-
perience (QoE) over the Internet. The basic idea is to select
proper video bitrate considering the network states, stability,
fairness, user’s preference of video quality, etc. Most existing
adaptive streaming approaches [79]–[81] rely on the client-
based adaptation, which aims to adapt to the bandwidth vari-
ations based on several observed or predicted metrics such
as buffer size and bandwidth situation. The recent advances
in deep learning, particularly deep reinforcement learning,
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Application Work Model Summary
Autonomous Driving
SqueezeDet [67] CNN A careful designed CNN for objection with reduced model size.
Chen et al. [68] CNN A CNN-based monocular 3D object detection method based on the fact that objects
should be on the ground-plane.
MV3D [69] Fusion VGG A multi-view 3D deep learning network that takes both LIDAR point and camera
images as a fusion input.
Bojarski et al. [70] CNN An end-to-end learning architecture that directly mapped the raw pixels from a single
front-facing camera to the steering commands.
Traffic Analysis
and Prediction
Polson et al. [71] DNN Leveraging deep neural network to mine the short term characteristics of the traffic
situation for traffic prediction.
Lv et al. [72] SAE Leverage a stacked autoencoder (SAE) to learn the generic traffic features from the
historical data.
Koesdwiady et al. [73] DBN Consider the impact of weather on traffic situation and incorporat the weather
information into a deep belief network.
DeepTransport [74] LSTM Consider the mobility analysis at the citywide scale with a LSTM model for
prediction.
Yao et al. [75] CNN,LSTM Revisit the spatiotemporal relationships in traffic pattern and propose a novel spatial-
temporal dynamic network (STDN) based on CNN and LSTM for prediction.
Traffic Signal Control
Wiering et al. [76] Tabular QL Leverage a tabular Q-learning model in an isolated intersection for signal control.
Abdoos et al. [10] MAQL Propose a multi-agent Q-learning (MAQL) method that considers the queue length
for cooperative scheduling.
Chu et al. [77] MA2C Propose a novel multi-agent actor-critic (MA2C) approach to comprehensively
combine the traffic features for intelligent control.
TABLE 2: Summary of deep-learning-enabled edge computing applications in the field of smart transportation.
are leveraged at the client end to automatically learn the
adaptation policy for better QoE [50], [82].
The emergence of edge computing provides an alternative
for adaptive video streaming. Given the intelligence and
computation capability, edge nodes can serve as a cache
server or transcoding server to provide edge-based (or edge-
cloud-based) adaptive streaming [83], [84]. This scheme can
usually collect more states from other users and achieve
higher fairness, stability, and collaborative intelligence. For
example, De Grazia [57] developed a multi-stage learning
system to manage simultaneous video transmission which
guarantees a minimum quality level for each user. In par-
ticular, they used an unsupervised Restricted Boltzmann
Machine (RBM) [28] to capture the latent features of the
input data and a supervised linear classifier to estimate the
characteristics of unknown videos. Wang et al. [58] designed
an edge computing-assisted framework that leverages DRL
to intelligently assign users to proper edge servers to achieve
proper video streaming services.
3) Caching
Video content caching [85] is another important applica-
tion that has attracted continuous research efforts for years
given its great benefits in improving multimedia services.
In traditional content delivery network (CDN) architecture,
video contents are usually placed or cached at remote servers,
where the high latency and limited bandwidth between the
end viewers and the remote servers can cause viewing delay
and congestion, seriously undermining the viewers’ QoE.
The emerging edge caching [86], [87] is able to alleviate this
problem by pushing the content close to the end users so as
to reduce the access latency and reduce the network pressure.
Traditional content providers may simply use rule-based so-
lutions such as Least Recently Used (LRU), Least Frequently
Used (LFU) and their variants [88], [89], or model-based
solutions such as [90], [91] given the easy implementation.
These solutions however heavily rely on dedicated features
and are not adaptive enough to the changing characteristics.
Deep learning brings new opportunities towards intelligent
edge caching using advanced learning techniques to well
capture the hidden features. Li et al. [59] considered the video
propagation as well as popularity evolution patterns and de-
veloped an integration of ARIMA, multiple linear regression
(MLR), and k-nearest neighbor regression (kNN) to predict
the social patterns to improve caching performance. Zhang et
al. [60] proposed an intelligent edge-assisted caching frame-
work LSTM-C based on LSTM to better learn to content
popularity patterns both at long and short time scale. Zhu et
al. [61] proposed to leverage DRL to automatically learn an
end-to-end caching policy, where the user requests, network
constraints, and external information are all embedded in the
learning environment. Besides individual caching decisions,
collaborative caching is also explored in recent years to
achieve collective intelligence. For example, Jiang et al. [62]
formulates the D2D caching problem as a multi-agent multi-
armed bandit (MAB) problem and developed a multi-agent
DRL (MADRL) solution to learn a coordinated caching
scheme among multiple agents.
C. SMART TRANSPORTATION
Vehicle is envisioned as the next intelligent information
carrier after smartphone. The coming era of 5G and mobile
edge computing (MEC) has enabled vehicle information to
be readily accessible anytime and anywhere with low latency,
forming an Internet of Vehicle (IoV) [92]. Integrated with
the latest advances in deep learning, IoV will enable more
VOLUME 4, 2016 7
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intelligent transportation management, such as autonomous
driving [24], traffic prediction, traffic signal control, as sum-
marized in Tab. 2.
1) Autonomous Driving
Intelligent sensing and perception are of the most critical
issues in autonomous driving [24]. The vehicles first collect
the information from various carried sensors such as cameras
and radars, and then conduct an intelligent perception and de-
cision. Purely using vehicle-based and cloud-based solutions
may not well satisfy the requirement of high computation
capacity, realtime feedback, enough redundancy, and security
for autonomous driving. Edge computing however provides
a promising solution with powerful computation and low-
latency communication [105]. With the benefits of V2X
communications [106], part of the learning-based perception
can be offloaded to the edge server for processing.
Many existing works have conducted pioneer efforts to-
wards autonomous driving. SqueezeDet [67] proposed a care-
fully designed CNN-based learning pipeline that not only
achieves high object detection accuracy but also reduces the
model size for energy efficiency. To better understand the
captured object, Chen et al. [68] proposed a monocular 3D
object detection method using state-of-the-art CNN method
based on the fact that objects should be on the ground-plane.
To further improve the accuracy and robustness, MV3D [69]
developed a multi-view 3D deep learning network that takes
both LIDAR point and camera images as a fusion input to
predict 3D boundaries. Besides the road feature extraction,
researchers also dived deeply into the driving control based
on the sensing information. Bojarski et al. [70] proposed
an end-to-end learning architecture without detecting road
features. It directly mapped the raw pixels from a single
front-facing camera to the steering commands.
2) Traffic Analysis and Prediction
Understanding the mobility patterns of the vehicles and
people is a critical problem for urban traffic management,
city planning, and service provisioning. Given the distributed
features of mobile edge servers, edge computing is naturally
ideal for vehicle traffic analysis and prediction [107]. Tra-
ditional approaches mostly used time-series analysis [108] or
probabilistic graph analysis [109], which may not sufficiently
capture the hidden spatiotemporal relationships therein. As
a powerful learning tool, deep learning stands out as an
effective method in this direction. Liu et al. [110] further
pointed out the potential of applying different deep learning
approaches in urban traffic prediction. Polson et al. [71]
leveraged deep neural network to mine the short term charac-
teristics of the traffic situation of a road segment to predict the
near future traffic pattern. Lv et al. [72] leveraged a stacked
autoencoder (SAE) to learn the generic traffic features from
the historical data. Koesdwiady et al. [73] further considered
the impact of weather on traffic situations and incorporated
the weather information into a deep belief network for inte-
grated learning. In DeepTransport [74], the authors consid-
ered the mobility analysis at a larger scale, i.e., the citywide
scale. LSTM model is used for future movement prediction.
In [75], the authors revisited the spatiotemporal relationships
in traffic patterns and proposed a novel spatial-temporal
dynamic network (STDN) based on CNN and LSTM, which
outperforms the existing prediction methods.
3) Traffic Signal Control
With the above traffic analysis and prediction, the combina-
tion of edge computing and deep learning actually can do
more things towards intelligent transportation management.
Among them, intelligent traffic signal control [76] is one
of the most representative applications and has also been
explored by researchers for years. A good control policy is
able to reduce the average waiting time, traffic congestion,
and traffic accident. The early traffic signal control methods
usually rely on fuzzy logic [111] or genetic algorithm [112].
The key challenge however lies in how to achieve collabora-
tive and intelligent control among multiple or even citywide
traffic lights for large scale traffic scheduling. Towards this
goal, reinforcement learning (RL) and multi-agent RL turns
out to be a promising solution where each agent (can be
implemented as an edge) will make control policy for a traffic
light considering not only its local traffic situation but also
other agents’ traffic situations. In [76], tabular Q-learning
was first applied in an isolated intersection for signal control.
To improve the collaboration among traffic lights, Abdoos et
al. [10] proposed a multi-agent Q-learning (MAQL) method
that considered the queue length for cooperative scheduling.
The latest work [77] further integrated the state-of-the-art
actor-critic (A2C) RL algorithm and the multi-agent learning
as a multi-agent actor-critic (MA2C) approach to comprehen-
sively combine the traffic features for intelligent control.
D. SMART CITY
Smart city [113] is another important application scenario for
deep-learning-enabled edge computing. The geo-distributed
big data [114] in a city naturally requires a distributed com-
puting paradigm for local processing and management. The
integration of edge computing and deep learning enables the
deep penetration of computing intelligence into every corner
of a city, forming a smart city that can provide more efficient,
economic, energy-saving, and convenient services [115],
[116]. We next discuss the combinational advantages in the
main components of the smart city, including the smart home,
smart building, and smart grid, as in Tab. 3.
1) Smart Home
Smart IoT has been widely explored in smart home scenarios
to provide not only convenient control but also intelligent
sensing [117]. Considering the privacy issue in the home
scenario, edge computing is a good choice to provide local
computation and processing, especially for the computation-
intensive deep-learning-based applications. Dhakal et al. [93]
developed an automated home/business monitoring system
which resides on Network Function Virtualization (NFV)
8VOLUME 4, 2016
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Application Work Model Summary
Smart Home
Dhakal et al. [93] kNN,DNN Develop an automated home/business monitoring system on NFV edge servers
performing online learning on streaming data from home.
SignFi [94] CNN Exploit the CSI signals of WiFi and using CNN to identify 276 sign language
gestures.
Wang et al. [95] CNN,LSTM Leverage a combined CNN and LSTM to recognize different gestures and
activities.
Mohammadi et al. [96] DRL Propose a novel semisupervised DRL-based method for indoor localization.
Smart Building
Zheng et al. [97], [98] Multi-task Learning Leverage multi-task learning to predict the performance of a chiller and strike
balance between electricity consumption and real-world deployment.
Yuce et al. [99] NN Propose a neural network based model to perform regression analysis of energy
consumption within a building.
Thokala [100] SVM,RNN Consider the heterogeneity in the electrical load and propose to use both SVM
and partial RNN to forecast future load.
Smart Grid
He et al. [101] DBN,RBM A deep learning based mechanism that integrates DBN and RBM to detect the
attack behavior of false data injection in realtime.
Yan et al. [102] RL A reinforcement learning-based approach to identify critical attack sequences
with consideration of physical system behaviors.
Shi et al. [103] RNN A novel pooling-based RNN network to forecast the household load addressing
the over-fitting issue.
Wan et al. [104] DRL A model-free DRL-based model to automatically determine the charging policy.
TABLE 3: Summary of deep-learning-enabled edge computing applications in the field of smart city.
edge servers performing online learning on streaming data
coming from homes and businesses in the neighborhood.
Leveraging the latest advances of deep learning, the ubiqui-
tous wireless signals can also be used for smart interaction
between human and devices. For example, SignFi [94] ex-
ploited the CSI signals of WiFi and was able to identify 276
sign language gestures including the head, arm, hand, and
finger with CNN for classification. Wang et al. [95] analyzed
the impact patterns of moving humans on the WiFi signals
and leveraged a combined CNN and LSTM to recognize
different gestures and activities. Such method can be used
for remote control of home devices such as lights and tele-
visions [118]. Mohammadi et al. [96] explored more pos-
sibilities of deep learning approaches and proposed a novel
semisupervised DRL based method for indoor localization.
Such edge-intelligence-enabled solution can be widely used
for smart home, including intrusion detection, gesture-based
interaction, fall detection, etc.
2) Smart Building
Achieving intelligent monitoring, sensing, and control in the
building environment requires more comprehensive percep-
tion and processing compared to the home environment given
the complex architecture. In this context, edge computing
plays an important role in data processing, orchestration, and
privacy preserving. Recently, many efforts [119]–[121] have
been made towards smart building to reduce energy con-
sumption, improve the building security, enhance the sensing
capacity of buildings, etc. Zheng et al. [97], [98] focused
on the chiller sequencing problem to reduce the electricity
consumption in buildings. They leveraged multi-task learning
to predict the performance of a chiller and further strike a
good balance between the electricity consumption and ease
of use for real-world deployment. Yuce et al. [99] proposed a
neural-network-based model to perform regression analysis
of energy consumption within a building. Thokala [100]
further considered the heterogeneity in the electrical load and
proposed to use both SVM and partial RNN to forecast future
load.
3) Smart Grid
The smart grid is an electricity distribution network with
smart meters deployed at various locations to measure the
realtime status information [127]. Smart grid is also an
important use case for edge computing or fog computing.
Edge collectors at the edge ingest the data generated by
grid sensors and devices, where some data for protection
and control loops even require real-time processing (from
milliseconds to sub-seconds) [3]. Deep learning together with
the edge computing empowers the grid with more intelli-
gent protection, control, and management. He et al. [101]
proposed a deep-learning-based mechanism that integrated
deep belief network (DBN) and RBM to detect the attack
behavior of false data injection in realtime. Considering the
sequential behavior of attacks for smart grid, Yan et al. [102]
further proposed a reinforcement learning-based approach
to identify critical attack sequences with consideration of
physical system behaviors. Shi et al. [103] proposed a novel
pooling-based RNN network to forecast the household load
addressing the over-fitting issue. Pricing is another important
issue towards smart grid, which greatly affects customers’
using behaviors in many aspects, e.g., the economy-driven
electric vehicle charging [128]. For instance, Wan et al. [104]
jointly considered the electricity price and battery energy
of electric vehicles and proposed a model-free DRL based
model to automatically determine the charging policy.
E. SMART INDUSTRY
In the coming era of industry 4.0, we are experiencing a rev-
olution of smart industry, which has two main principles, i.e.,
VOLUME 4, 2016 9
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Application Work Model Summary
Smart Manufacturing
Weimer et al. [122] CNN A novel CNN-based architecture for fast and reliable industrial inspection.
Li et al. [123] CNN An edge-computing-based model that offloads computation burden to the fog
nodes and a CNN-based model with an early-exit design for accurate inspection.
Zhao et al. [124] CNN, bi-LSTM A system that combined CNN and bi-directional LSTM for machine health
monitoring.
Smart Industrial Analysis Wu et al. [125] vanilla LSTM A remaining life prediction for engineered system using vanilla LSTM neural
networks.
Wang et al. [126] DNN Proposing a DNN-based architecture to accurately predict the remaining energy
and remaining lifetime of batteries, which further enables an informed power
configuration among base stations.
TABLE 4: Summary of deep-learning-enabled edge computing applications in the field of smart industry.
production automation and smart data analysis [123]. The
former is one of our main objectives that could greatly liber-
ate the productivity and the latter is one of the most effective
methods towards our objectives. The recent advances of edge
computing migrate the massive computation from the remote
cloud to the local edge, enabling more low-latency and secure
manufacturing [129]. And deep learning further empowers
more effective local analysis and prediction [130] at the edge
node of industry instead of the cloud. We summarize them in
the next two parts as illustrated in Tab. 4.
1) Smart Manufacturing
Smart manufacturing is the key component of the smart
industry, which highly relies on the intelligent processing of
deep learning and quick response of edge computing. The
combination of deep learning and edge computing has been
applied in many aspects of industry manufacturing, such
as manufacture inspection and fault assessment. Weimer et
al. [122] developed a novel CNN-based architecture for fast
and reliable industrial inspection, which can automatically
generate meaningful features for a specific inspection task
from a huge amount of raw data with minimal human in-
teraction. Li et al. [123] proposed an edge-computing-based
model that is able to offload the computation burden to
the fog nodes to deal with extremely large data. A CNN-
based model together with an early-exit design is used in
this model, which largely improved the inspection accuracy
and robustness. Zhao et al. [124] further combined CNN
with bi-directional LSTM to propose a novel machine health
monitoring system.
2) Smart Industrial Analysis
Besides the manufacture inspection and monitoring, the ap-
plication of edge computing and deep learning also enables
much intelligent industrial analysis. Wu et al. [125] focused
on the remaining useful life estimation of the engineered
system and proposed to use vanilla LSTM neural networks to
get good remaining lifetime prediction accuracy. Wang et al.
[126] focused on the remaining lifetime analysis of backup
batteries in the wireless base stations. They proposed to use
DNN-based architecture to accurately predict the remaining
energy and remaining lifetime of batteries, which further en-
ables an informed power configuration among base stations.
V. RESEARCH CHALLENGES AND DIRECTIONS
Though the convergence of edge computing and deep learn-
ing has revealed great potentials and prompted the fast
development of many applications, there still exist various
problems in achieving stable, robust, and practical usage,
which calls for continuous efforts in this field from many
perspectives. We next discuss some key research challenges
and promising directions.
A. MODEL TRAINING
The performance of deep-learning-enabled edge applications
highly relies on how the learning models are performed
in the edge computing architecture, where the model train-
ing is an important process. It is well known that model
training is often computation-intensive, consuming massive
CPU and GPU resources, especially for those deep models.
Edge servers are usually challenging, or at least not cost-
efficient, to solely take the model training tasks. Besides,
in many applications, the data is distributed collected from
multiple edge servers and it is difficult for a single edge
server to obtain the whole information for model training.
Sharing the raw data among the edge nodes is not a good
solution since it will consume massive communication re-
sources. Towards this direction, distributed learning [131]
and federated learning [132] are two promising models to
address this problem. The early idea of distributed learning is
to design a decentralized Stochastic Gradient Descent (SGD)
algorithm in the edge computing environment. The key chal-
lenge exists in reducing the communication cost for gradient
updates while preserving the training accuracy. Recent efforts
have been made towards this direction, e.g., delivering the
important gradient first [133]. Federated learning is another
promising method emerging in recent years to train deep
neural networks as it leaves the raw data on clients and only
aggregates the intermediate updates from each client. In the
edge application scenario, it can also reduce the communica-
tion cost and improve resource utilization [134].
B. MODEL INFERENCE
As many outstanding learning models are getting bigger
and deeper, traditional large-scale learning models are often
deployed in a centralized cloud and receive the raw input
data from the distributed end devices, which can cause high
10 VOLUME 4, 2016
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delay. Edge servers provide alternative solutions for model
deployment, where the edge and cloud can work collabora-
tively to handle the massive amounts of learning takes. A
promising direction is model partition for deep neural net-
works, where the end, edge, and cloud will execute part of the
learning models, respectively. For example, Kang et al. [135]
developed a lightweight scheduler to automatically partition
DNN computation between mobile devices and data centers
at the granularity of neural network layers. And Huang et
al. [136] further explored the partitioning problem in the edge
computing scenario, and developed a partitioning strategy
among the device, edge, and cloud, which aimed to reduce
the execution delay. Another promising direction is the early
exit of inference (EEoI) [137] for deep neural networks.
Since passing through the whole deep networks is both time-
and energy-consuming for edge servers, EEoI allows the
inference to exit early if verified by some predefined models.
C. APPLICATION ENHANCEMENT
The integration of deep learning and edge computing has
achieved remarkable improvement for many application sce-
narios, yet there are still some critical applications desir-
ing for real breakthroughs. Real-time VR gaming and au-
tonomous driving are two most representative applications.
Both these two applications require ultra low-delay interac-
tions and powerful computations. The emerging 5G commu-
nication technology together with edge learning brings new
possibilities towards a feasible solution, where the main com-
putation such as video rendering as well as video analytics
can be conducted at local edges and the processing results can
be delivered to the end in near real time, e.g., millisecond-
level interaction. Despite of the preliminary foundation of
feasibility, there is still a long way to go before the practical
application.
D. HARDWARE AND SOFTWARE OPTIMIZATION
In addition to the model and application enhancement, the
system-level optimization for deep learning and edge com-
puting is also a challenging yet promising direction. Most
of the existing hardware architecture, software platform,
and programming abstraction are particularly designed for
the cloud-based computing paradigm. Yet the edge learning
emphasizes some different aspects compared to cloud com-
puting, such as energy-efficiency, light-weight architecture,
and edge-oriented computation framework. For example,
from the perspective of the hardware architecture optimiza-
tion, Du et al. [138] studied Cortex-M micro-controllers
and proposed a streaming hardware accelerator to better
CNN in edge devices. Besides, FPGA-based edge comput-
ing platforms are also developed to support deep learning
computation offloading from mobile devices to the edge
FPGA platform [139]. For the software perspective, many
incorporations have proposed their own software platforms
or services to support edge-level learning and computing,
such as Amazon’s Greengrass2and Microsoft’s Azure IoT
Edge3. For the perspective of programming abstraction, there
are also some frameworks specially designed for edge sce-
nario, such as MXNet [140], Tensorflow Lite4and CoreML5.
Though with these existing systems and frameworks, there
still need a lot of efforts to integrate them to achieve a
more practical and high-performance system for general edge
learning applications.
VI. CONCLUSION
In this article, we mainly investigated how the recent ad-
vances of deep learning can be leveraged to improve the
novel edge computing applications. We first introduced the
basic concepts and paradigms of edge computing, highlight-
ing its key advantages. We then present some representative
deep learning models that can be used in edge computing,
such as autoencoder, CNN, RNN, DRL, etc. A comprehen-
sive survey on the latest deep learning empowered edge
computing applications is next conducted from four domains,
including smart multimedia, smart transportation, smart city,
and smart industry. Finally, we discussed the key challenges
and future research directions on improving the intelligent
edge computing applications. We hope this survey is able
to elicit more discussion and inspiration on the convergence
of edge computing and deep learning, so as to facilitate
the development of deep-learning-enabled edge computing
applications.
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