相关论文: DM3D: Distortion-Minimized Weight Pruning for Loss…

Autonomous systems need to process large-scale, sparse, and irregular point clouds with limited compute resources. Consequently, it is essential to develop LiDAR perception methods that are both efficient and effective. Although naively…

The computational burden and inherent redundancy of large-scale datasets challenge the training of contemporary machine learning models. Data pruning offers a solution by selecting smaller, informative subsets, yet existing methods…

Channel pruning can effectively reduce both computational cost and memory footprint of the original network while keeping a comparable accuracy performance. Though great success has been achieved in channel pruning for 2D image-based…

3D object detection often involves complicated training and testing pipelines, which require substantial domain knowledge about individual datasets. Inspired by recent non-maximum suppression-free 2D object detection models, we propose a 3D…

We introduce a DNN training technique that learns only a fraction of the full parameter set without incurring an accuracy penalty. To do this, our algorithm constrains the total number of weights updated during backpropagation to those with…

Accurate and fast 3D object detection from point clouds is a key task in autonomous driving. Existing one-stage 3D object detection methods can achieve real-time performance, however, they are dominated by anchor-based detectors which are…

Detecting objects in 3D LiDAR data is a core technology for autonomous driving and other robotics applications. Although LiDAR data is acquired over time, most of the 3D object detection algorithms propose object bounding boxes…

We propose an algorithm capable of identifying and eliminating irrelevant layers of a neural network during the early stages of training. In contrast to weight or filter-level pruning, layer pruning reduces the harder to parallelize…

We propose a novel algorithm for combined unit and layer pruning of deep neural networks that functions during training and without requiring a pre-trained network to apply. Our algorithm optimally trades-off learning accuracy and pruning…

Three-dimensional (3D) object recognition is crucial for intelligent autonomous agents such as autonomous vehicles and robots alike to operate effectively in unstructured environments. Most state-of-art approaches rely on relatively dense…

Weight pruning methods of DNNs have been demonstrated to achieve a good model pruning rate without loss of accuracy, thereby alleviating the significant computation/storage requirements of large-scale DNNs. Structured weight pruning methods…

Change detection and irregular object extraction in 3D point clouds is a challenging task that is of high importance not only for autonomous navigation but also for updating existing digital twin models of various industrial environments.…

Generative modeling has recently undergone remarkable advancements, primarily propelled by the transformative implications of Diffusion Probabilistic Models (DPMs). The impressive capability of these models, however, often entails…

Pruning is an effective way to reduce the huge inference cost of Transformer models. However, prior work on pruning Transformers requires retraining the models. This can add high training cost and high complexity to model deployment, making…

In this work, we study 3D object detection from RGB-D data in both indoor and outdoor scenes. While previous methods focus on images or 3D voxels, often obscuring natural 3D patterns and invariances of 3D data, we directly operate on raw…

The unmatched ability of Deep Neural Networks in capturing complex patterns in large and noisy datasets is often associated with their large hypothesis space, and consequently to the vast amount of parameters that characterize model…

We present a new two-stage 3D object detection framework, named sparse-to-dense 3D Object Detector (STD). The first stage is a bottom-up proposal generation network that uses raw point cloud as input to generate accurate proposals by…

3D detection is a critical task that enables machines to identify and locate objects in three-dimensional space. It has a broad range of applications in several fields, including autonomous driving, robotics and augmented reality. Monocular…

The task of detecting 3D objects is important to various robotic applications. The existing deep learning-based detection techniques have achieved impressive performance. However, these techniques are limited to run with a graphics…

Reliable and accurate 3D object detection is a necessity for safe autonomous driving. Although LiDAR sensors can provide accurate 3D point cloud estimates of the environment, they are also prohibitively expensive for many settings.…