相关论文: Fast Sparse 3D Convolution Network with VDB

We introduce NeuralVDB, which improves on an existing industry standard for efficient storage of sparse volumetric data, denoted VDB [Museth 2013], by leveraging recent advancements in machine learning. Our novel hybrid data structure can…

Conventional deep convolutional neural networks (CNNs) apply convolution operators uniformly in space across all feature maps for hundreds of layers - this incurs a high computational cost for real-time applications. For many problems such…

We have implemented a convolutional neural network designed for processing sparse three-dimensional input data. The world we live in is three dimensional so there are a large number of potential applications including 3D object recognition…

Hardware accelerator for convolution neural network (CNNs) enables real time applications of artificial intelligence technology. However, most of the accelerators only support dense CNN computations or suffers complex control to support…

We present fVDB, a novel GPU-optimized framework for deep learning on large-scale 3D data. fVDB provides a complete set of differentiable primitives to build deep learning architectures for common tasks in 3D learning such as convolution,…

This work introduces a new training and compression pipeline to build Nested Sparse ConvNets, a class of dynamic Convolutional Neural Networks (ConvNets) suited for inference tasks deployed on resource-constrained devices at the edge of the…

We propose a new method to create compact convolutional neural networks (CNNs) by exploiting sparse convolutions. Different from previous works that learn sparsity in models, we directly employ hand-crafted kernels with regular sparse…

Deep 3-dimensional (3D) Convolutional Network (ConvNet) has shown promising performance on video recognition tasks because of its powerful spatio-temporal information fusion ability. However, the extremely intensive requirements on memory…

Convolution neural networks (CNNs) have achieved remarkable success, but typically accompany high computation cost and numerous redundant weight parameters. To reduce the FLOPs, structure pruning is a popular approach to remove the entire…

3D object detection has been widely studied due to its potential applicability to many promising areas such as robotics and augmented reality. Yet, the sparse nature of the 3D data poses unique challenges to this task. Most notably, the…

3D neural networks have become prevalent for many 3D vision tasks including object detection, segmentation, registration, and various perception tasks for 3D inputs. However, due to the sparsity and irregularity of 3D data, custom 3D…

The high energy cost of processing deep convolutional neural networks impedes their ubiquitous deployment in energy-constrained platforms such as embedded systems and IoT devices. This work introduces convolutional layers with pre-defined…

This study introduces a method for efficiently detecting objects within 3D point clouds using convolutional neural networks (CNNs). Our approach adopts a unique feature-centric voting mechanism to construct convolutional layers that…

Deep convolutional neural networks (ConvNets) of 3-dimensional kernels allow joint modeling of spatiotemporal features. These networks have improved performance of video and volumetric image analysis, but have been limited in size due to…

Non-uniformed 3D sparse data, e.g., point clouds or voxels in different spatial positions, make contribution to the task of 3D object detection in different ways. Existing basic components in sparse convolutional networks (Sparse CNNs)…

In many robotics and VR/AR applications, 3D-videos are readily-available sources of input (a continuous sequence of depth images, or LIDAR scans). However, those 3D-videos are processed frame-by-frame either through 2D convnets or 3D…

Deep Convolutional Neural Networks (CNNs) have been successfully deployed on robots for 6-DoF object pose estimation through visual perception. However, obtaining labeled data on a scale required for the supervised training of CNNs is a…

Pillar-based 3D object detection has gained traction in self-driving technology due to its speed and accuracy facilitated by the artificial densification of pillars for GPU-friendly processing. However, dense pillar processing fundamentally…

Convolutional networks are the de-facto standard for analyzing spatio-temporal data such as images, videos, and 3D shapes. Whilst some of this data is naturally dense (e.g., photos), many other data sources are inherently sparse. Examples…

Deep neural networks are state-of-the-art models for understanding the content of images, video and raw input data. However, implementing a deep neural network in embedded systems is a challenging task, because a typical deep neural…