Applying deep neural networks to 3D point cloud processing has demonstrated a rapid pace of advancement in those domains where 3D geometry information can greatly boost task performance, such as AR/VR, robotics, and autonomous driving. However, as the size of both the neural network model and 3D point cloud continues to scale, reducing the entailed computation and memory access overhead is a primary challenge to meet strict latency and energy constraints of practical applications. This paper proposes a new weight pruning technique for 3D point cloud based on spatial point distribution. We identify that particular groups of neighborhood voxels in 3D point cloud contribute more frequently to actual output features than others. Based on this observation, we propose to selectively prune less contributing groups of neighborhood voxels first to reduce the computation overhead while minimizing the impact on model accuracy. We apply our technique to three representative Sparse 3D Convolution libraries. Our technique reduces the inference latency by 1.60x on average and energy consumption by 1.74x on NVIDIA GV100 GPU with no accuracy loss.

Not All Neighbors Matter: Point Distribution-Aware Pruning for 3D Point Cloud

ML: Deep Generative Models & Autoencoders / CV: 3D Computer Vision

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AAAI 2023

The purpose of the AAAI conference series is to promote research in Artificial Intelligence (AI) and foster scientific exchange between researchers, practitioners, scientists, students, and engineers across the entirety of AI and its affiliated disciplines.

Yejin Lee

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Not All Neighbors Matter: Point Distribution-Aware Pruning for 3D Point Cloud

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