通过软硬件协同设计,让3D高斯点云训练提速44%且质量几乎不变。
BalanceGS: Algorithm-System Co-design for Efficient 3D Gaussian Splatting Training on GPU
- 算法层面:动态调节高斯点分布,删减80%冗余点并填补稀疏区。
- 系统层面:按密度自适应分配线程任务,避免计算负载不均。
- 内存层面:重排存储结构,支持共享内存批量加载,提升访问效率。
3D高斯点云(3DGS)是一种前景广阔的三维重建技术。传统训练流程包含三个连续步骤:高斯点稠密化、投影与颜色绘制。尽管重建质量优异,但该方法存在三大效率瓶颈:(1) 点云稠密化阶段密度分布失衡;(2) 投影阶段计算负载不均;(3) 颜色绘制时内存访问碎片化。为此,我们提出BalanceGS——一种面向3DGS高效训练的算法-系统协同设计。算法层提出启发式负载敏感的点密度控制策略,自动平衡点分布,在密集区域去除80%冗余高斯点,同时填补稀疏区域空白;系统层提出基于相似性的高斯采样与合并机制,以动态调整线程-像素映射,使线程根据局部簇密度处理不同数量的高斯点;映射层提出重排式内存访问策略,重构RGB存储结构,实现共享内存的批量加载。大量实验表明,相较原始3DGS,BalanceGS在NVIDIA A100 GPU上实现1.44倍训练加速,且质量损失可忽略。
原文摘要 · Abstract (English)
3D Gaussian Splatting (3DGS) has emerged as a promising 3D reconstruction technique. The traditional 3DGS training pipeline follows three sequential steps: Gaussian densification, Gaussian projection, and color splatting. Despite its promising reconstruction quality, this conventional approach suffers from three critical inefficiencies: (1) Skewed density allocation during Gaussian densification, (2) Imbalanced computation workload during Gaussian projection and (3) Fragmented memory access during color splatting. To tackle the above challenges, we introduce BalanceGS, the algorithm-system co-design for efficient training in 3DGS. (1) At the algorithm level, we propose heuristic workload-sensitive Gaussian density control to automatically balance point distributions - removing 80% redundant Gaussians in dense regions while filling gaps in sparse areas. (2) At the system level, we propose Similarity-based Gaussian sampling and merging, which replaces the static one-to-one thread-pixel mapping with adaptive workload distribution - threads now dynamically process variable numbers of Gaussians based on local cluster density. (3) At the mapping level, we propose reordering-based memory access mapping strategy that restructures RGB storage and enables batch loading in shared memory. Extensive experiments demonstrate that compared with 3DGS, our approach achieves a 1.44$\times$ training speedup on a NVIDIA A100 GPU with negligible quality degradation.
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