LiDAR-PTQ: Post-Training Quantization for Point Cloud 3D Object Detection
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arXiv
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| Auteurs principaux: | , , , , , , , , |
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| Format: | Preprint |
| Publié: |
2024
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| _version_ | 1866910310158303232 |
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| author | Zhou, Sifan Li, Liang Zhang, Xinyu Zhang, Bo Bai, Shipeng Sun, Miao Zhao, Ziyu Lu, Xiaobo Chu, Xiangxiang |
| author_facet | Zhou, Sifan Li, Liang Zhang, Xinyu Zhang, Bo Bai, Shipeng Sun, Miao Zhao, Ziyu Lu, Xiaobo Chu, Xiangxiang |
| contents | Due to highly constrained computing power and memory, deploying 3D lidar-based detectors on edge devices equipped in autonomous vehicles and robots poses a crucial challenge. Being a convenient and straightforward model compression approach, Post-Training Quantization (PTQ) has been widely adopted in 2D vision tasks. However, applying it directly to 3D lidar-based tasks inevitably leads to performance degradation. As a remedy, we propose an effective PTQ method called LiDAR-PTQ, which is particularly curated for 3D lidar detection (both SPConv-based and SPConv-free). Our LiDAR-PTQ features three main components, \textbf{(1)} a sparsity-based calibration method to determine the initialization of quantization parameters, \textbf{(2)} a Task-guided Global Positive Loss (TGPL) to reduce the disparity between the final predictions before and after quantization, \textbf{(3)} an adaptive rounding-to-nearest operation to minimize the layerwise reconstruction error. Extensive experiments demonstrate that our LiDAR-PTQ can achieve state-of-the-art quantization performance when applied to CenterPoint (both Pillar-based and Voxel-based). To our knowledge, for the very first time in lidar-based 3D detection tasks, the PTQ INT8 model's accuracy is almost the same as the FP32 model while enjoying $3\times$ inference speedup. Moreover, our LiDAR-PTQ is cost-effective being $30\times$ faster than the quantization-aware training method. Code will be released at \url{https://github.com/StiphyJay/LiDAR-PTQ}. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2401_15865 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | LiDAR-PTQ: Post-Training Quantization for Point Cloud 3D Object Detection Zhou, Sifan Li, Liang Zhang, Xinyu Zhang, Bo Bai, Shipeng Sun, Miao Zhao, Ziyu Lu, Xiaobo Chu, Xiangxiang Computer Vision and Pattern Recognition Due to highly constrained computing power and memory, deploying 3D lidar-based detectors on edge devices equipped in autonomous vehicles and robots poses a crucial challenge. Being a convenient and straightforward model compression approach, Post-Training Quantization (PTQ) has been widely adopted in 2D vision tasks. However, applying it directly to 3D lidar-based tasks inevitably leads to performance degradation. As a remedy, we propose an effective PTQ method called LiDAR-PTQ, which is particularly curated for 3D lidar detection (both SPConv-based and SPConv-free). Our LiDAR-PTQ features three main components, \textbf{(1)} a sparsity-based calibration method to determine the initialization of quantization parameters, \textbf{(2)} a Task-guided Global Positive Loss (TGPL) to reduce the disparity between the final predictions before and after quantization, \textbf{(3)} an adaptive rounding-to-nearest operation to minimize the layerwise reconstruction error. Extensive experiments demonstrate that our LiDAR-PTQ can achieve state-of-the-art quantization performance when applied to CenterPoint (both Pillar-based and Voxel-based). To our knowledge, for the very first time in lidar-based 3D detection tasks, the PTQ INT8 model's accuracy is almost the same as the FP32 model while enjoying $3\times$ inference speedup. Moreover, our LiDAR-PTQ is cost-effective being $30\times$ faster than the quantization-aware training method. Code will be released at \url{https://github.com/StiphyJay/LiDAR-PTQ}. |
| title | LiDAR-PTQ: Post-Training Quantization for Point Cloud 3D Object Detection |
| topic | Computer Vision and Pattern Recognition |
| url | https://arxiv.org/abs/2401.15865 |