<i>SimDiff</i>: Point Cloud Acceleration by Utilizing Spatial Similarity and Differential Execution

Abstract

Point cloud neural networks are gaining increasing attention in emerging 3-D computer vision applications, such as autonomous driving, robotics, and virtual reality. Many customized accelerators for 3-D point clouds have been developed to pursue superior time and energy efficiencies. In this work, we reveal that spatially adjacent points in a 3-D point cloud show similar feature values and relationships, implying substantial redundant computations and memory accesses, while which have been previously ignored. To reduce such redundancies, we propose SimDiff, an algorithm-accelerator co-design framework that boosts 3-D point cloud processing by cleverly leveraging spatial similarity toward excellent speedup and energy efficiency. On the algorithm side, we design a novel similarity-aware differential point cloud neural network (dubbed SD-PCNet). Differing from the standard flow of mainstream point cloud networks, it abstracts a brand-new execution flow for point cloud processing by utilizing spatial similarity among points and dynamic differential execution. On the accelerator side, we propose SD-PCAcc, a supporting accelerator to convert algorithm-level redundancy reductions into performance enhancements. On the deployment side, we propose efficient strategies for network-to-accelerator mapping and scheduling, high-bandwidth memory (HBM) channel allocation, and core component reconfiguration, facilitating the proposed methodologies into practical implementation. Extensive evaluation results show that, with preserved accuracy, our SimDiff gains an average of <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$3.2\times $ </tex-math></inline-formula> speedup and <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$3.1\times $ </tex-math></inline-formula> energy efficiency compared to the state-of-the-art competitors.