Voxel-based methods have achieved state-of-the-art performance for 3D object detection in autonomous driving. However, their significant computational and memory costs pose a challenge for their ...application to resource-constrained vehicles. One reason for this high resource consumption is the presence of a large number of redundant background points in Lidar point clouds, resulting in spatial redundancy in both 3D voxel and dense BEV map representations. To address this issue, we propose an adaptive inference framework called Ada3D, which focuses on exploiting the input-level spatial redundancy. Ada3D adaptively filters the redundant input, guided by a lightweight importance predictor and the unique properties of the Lidar point cloud. Additionally, we utilize the BEV features' intrinsic sparsity by introducing the Sparsity Preserving Batch Normalization. With Ada3D, we achieve 40% reduction for 3D voxels and decrease the density of 2D BEV feature maps from 100% to 20% without sacrificing accuracy. Ada3D reduces the model computational and memory cost by 5x, and achieves 1.52x/1.45x end-to-end GPU latency and 1.5x/4.5x GPU peak memory optimization for the 3D and 2D backbone respectively.
In this work, we propose a low-bit training framework for convolutional neural networks, which is built around a novel multi-level scaling (MLS) tensor format. Our framework focuses on reducing the ...energy consumption of convolution operations by quantizing all the convolution operands to low bit-width format. Specifically, we propose the MLS tensor format, in which the element-wise bit-width can be largely reduced. Then, we describe the dynamic quantization and the low-bit tensor convolution arithmetic to leverage the MLS tensor format efficiently. Experiments show that our framework achieves a superior trade-off between the accuracy and the bit-width than previous low-bit training frameworks. For training a variety of models on CIFAR-10, using 1-bit mantissa and 2-bit exponent is adequate to keep the accuracy loss within \(1\%\). And on larger datasets like ImageNet, using 4-bit mantissa and 2-bit exponent is adequate to keep the accuracy loss within \(1\%\). Through the energy consumption simulation of the computing units, we can estimate that training a variety of models with our framework could achieve \(8.3\sim10.2\times\) and \(1.9\sim2.3\times\) higher energy efficiency than training with full-precision and 8-bit floating-point arithmetic, respectively.
The intersection of physics-based vision and deep learning presents an exciting frontier for advancing computer vision technologies. By leveraging the principles of physics to inform and enhance deep ...learning models, we can develop more robust and accurate vision systems. Physics-based vision aims to invert the processes to recover scene properties such as shape, reflectance, light distribution, and medium properties from images. In recent years, deep learning has shown promising improvements for various vision tasks, and when combined with physics-based vision, these approaches can enhance the robustness and accuracy of vision systems. This technical report summarizes the outcomes of the Physics-Based Vision Meets Deep Learning (PBDL) 2024 challenge, held in CVPR 2024 workshop. The challenge consisted of eight tracks, focusing on Low-Light Enhancement and Detection as well as High Dynamic Range (HDR) Imaging. This report details the objectives, methodologies, and results of each track, highlighting the top-performing solutions and their innovative approaches.
