Point-Voxel CNN for E ffi cient 3D Deep Learning Zhijian Liu* , - PowerPoint PPT Presentation

H ardware, A I and N eural-nets Point-Voxel CNN for E ffi cient 3D Deep Learning Zhijian Liu* , Haotian Tang* , Yujun Lin , and Song Han Project Page: http://pvcnn.mit.edu/

3D Deep Learning 3D Part Segmentation 3D Semantic Segmentation 3D Object Detection (for Robotic Systems) (for VR/AR Headsets) (for Self-Driving Cars)

E ffi cient 3D Deep Learning Bandwidth (GB/s) Sequential Memory Access 668 1 2 3 4 5 6 7 8 20x slower 167 30 Random Memory Access 7 5 2 4 6 1 8 3 Mult and Add SRAM Memory DRAM Memory O ff -chip DRAM access is much more Random memory access is ine ffi cient expensive than arithmetic operation! due to the potential bank con fl icts!

Voxel-Based Models: Cubically-Growing Memory 80 128 x 128 x 128 resolution 83 GB (Titan XP x 7 ) 7% information loss GPU Memory (GB) 60 64 x 64 x 64 resolution 40 11 GB (Titan XP x 1 ) 42% information loss 20 * ) 3D ShapeNets [CVPR’15] 0 VoxNet [IROS’15] 20 40 60 80 100 120 3D U-Net [MICCAI’16] Voxel Resolution

Point-Based Models: Sparsity Overheads * DGCNN PointCNN SpiderCNN Ours ' 95.1 Runtime (%) 57.4 51.8 51.5 45.3 36.3 27.0 + ) 15.6 12.2 PointNet [CVPR’17] 4.9 2.9 0.0 PointCNN [NeurIPS’18] Irregular Access Dynamic Kernel Actual Computation DGCNN [SIGGRAPH’19]

Point-Voxel Convolution (PVConv) Voxelize Convolve Devoxelize Fuse Normalize Multi-Layer Perceptron

Point-Voxel Convolution (PVConv) Voxelize Convolve Devoxelize Fuse Normalize Multi-Layer Perceptron Point-Based Feature Transformation (Fine-Grained)

Point-Voxel Convolution (PVConv) Voxel-Based Feature Aggregation (Coarse-Grained) Voxelize Convolve Devoxelize Fuse Normalize Multi-Layer Perceptron

Point-Voxel Convolution (PVConv) Voxel-Based Feature Aggregation (Coarse-Grained) Voxelize Convolve Devoxelize Fuse Normalize Multi-Layer Perceptron Point-Based Feature Transformation (Fine-Grained)

Point-Voxel Convolution (PVConv) Features from Voxel-Based Branch : Features from Point-Based Branch :

Results: 3D Part Segmentation (ShapeNet) PVCNN PointCNN DGCNN RSNet 3D-UNet SpiderCNN PointNet++ PointNet 86.0 85.5 Mean IoU 85.0 84.5 84.0 83.5 0 30 60 90 120 150 180 210 0.7 1.0 1.3 1.6 1.9 2.2 2.5 2.8 3.1 GPU Latency (ms) GPU Memory (GB)

Results: 3D Part Segmentation (ShapeNet) PVCNN PointCNN DGCNN RSNet 3D-UNet SpiderCNN PointNet++ PointNet 2.7x speedup 1.5x reduction 86.0 85.5 Mean IoU 85.0 84.5 84.0 83.5 0 30 60 90 120 150 180 210 0.7 1.0 1.3 1.6 1.9 2.2 2.5 2.8 3.1 GPU Latency (ms) GPU Memory (GB)

Results: 3D Part Segmentation (ShapeNet) PointNet (83.7 mIoU) PVCNN (85.2 mIoU) 139.9 Objects per Second 76.0 42.6 20.3 19.9 8.2 Jetson Nano Jetson TX2 Jetson AGX Xavier

Results: 3D Semantic Segmentation (S3DIS) PVCNN PVCNN++ 3D-UNet PointCNN RSNet DGCNN PointNet 57.5 55.0 52.5 Mean IoU 50.0 47.5 45.0 42.5 20 60 100 140 180 220 260 300 0.4 1.0 1.6 2.2 2.8 3.4 4.0 4.6 GPU Latency (ms) GPU Memory (GB)

Results: 3D Semantic Segmentation (S3DIS) PVCNN PVCNN++ 3D-UNet PointCNN RSNet DGCNN PointNet 57.5 6.9x speedup 5.7x reduction 55.0 52.5 Mean IoU 50.0 47.5 45.0 42.5 20 60 100 140 180 220 260 300 0.4 1.0 1.6 2.2 2.8 3.4 4.0 4.6 GPU Latency (ms) GPU Memory (GB)

Results: 3D Semantic Segmentation (S3DIS) PVCNN Input Scene PointNet Ground Truth ( 1.8x faster)

Results: 3D Object Detection (KITTI) GPU Latency GPU Memory Pedestrian Cyclist Car F-PointNet++ 105.2 ms 2.0 GB 61.6 62.4 72.8 58.9 ms 1.4 GB PVCNN 60.7 63.6 73.0 (1.8x) (1.4x) (-0.9) (+1.2) (+0.2) (e ffi cient) 69.6 ms 1.4 GB PVCNN 64.9 65.9 73.1 (1.4x) (+3.3) (+3.5) (+0.3) (1.5x) (complete) Faster Lower More Accurate

Results: 3D Object Detection (KITTI) F-PointNet++ PVCNN (10 FPS) ( 17 FPS, 1.8x faster)

Point-Voxel CNN for E ffi cient 3D Deep Learning 2.7x measured speedup 6.9x measured speedup 1.8x measured speedup 1.5x memory reduction 5.7x memory reduction 1.4x memory reduction Gold Medal in Lyft Challenge on 3D Object Detection for Autonomous Vehicles Poster: 10:45-12:45 PM @ East Exhibition Hall B + C #112 GitHub: https://github.com/mit-han-lab/pvcnn Project Page: http://pvcnn.mit.edu

Point-Voxel CNN for E ffi cient 3D Deep Learning Zhijian Liu* , - PowerPoint PPT Presentation

H ardware, A I and N eural-nets Point-Voxel CNN for E ffi cient 3D Deep Learning Zhijian Liu* , Haotian Tang* , Yujun Lin , and Song Han Project Page: http://pvcnn.mit.edu/ 3D Deep Learning 3D Part Segmentation 3D Semantic Segmentation 3D

Point-Voxel CNN for E ffi cient 3D Deep Learning Zhijian Liu* , Haotian Tang* , Yujun Lin , and

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