arXiv:2604.17720cs.LGcs.CV2026-04中稿 · DAC'26

提出FlashFPS框架,显著加速大规模点云的远点采样。

FlashFPS: Efficient Farthest Point Sampling for Large-Scale Point Clouds via Pruning and Caching

论文配图:FlashFPS: Efficient Farthest Point Sampling for Large-Scale Point Clouds via Pruning and Caching
图 1 · 摘自论文原文
  • 通过剪枝与缓存减少冗余计算,提升采样效率。
  • 在GPU上提速5.16倍,加速器上提速2.69倍,精度损失极小。
  • 适配现有模型,无需重写代码,适合点云处理开发者。

基于点的神经网络(PNNs)已成为点云处理的关键方法,但其核心操作远点采样(FPS)在大规模处理中引入显著推理延迟。尽管已有CUDA和硬件级优化,但由于PNN中多层网络需反复执行完全遍历计算,FPS仍是主要瓶颈。我们系统分析发现三类冗余:不必要的全云计算、后期迭代冗余、以及可预测的层间输出导致后续采样可跳过。为此提出硬件无关、即插即用的FlashFPS框架,包含FPS-Prune与FPS-Cache两部分:前者通过候选剪枝与迭代剪枝减少冗余计算,后者通过缓存复用消除层间冗余。集成至现有CUDA库与先进PNN加速器后,相比标准CUDA基线,在GPU上实现5.16倍加速,在PNN加速器上达2.69倍加速,精度损失可忽略,支持高效可扩展的PNN推理。代码已开源于https://github.com/Yuzhe-Fu/FlashFPS。

原文摘要 · Abstract (English)

Point-based Neural Networks (PNNs) have become a key approach for point cloud processing. However, a core operation in these models, Farthest Point Sampling (FPS), often introduces significant inference latency, especially for large-scale processing. Despite existing CUDA- and hardware-level optimizations, FPS remains a major bottleneck due to exhaustive computations across multiple network layers in PNNs, which hinders scalability. Through systematic analysis, we identify three substantial redundancies in FPS, including unnecessary full-cloud computations, redundant late-stage iterations, and predictable inter-layer outputs that make later FPS computations avoidable. To address these, we propose \textbf{\textit{FlashFPS}}, a hardware-agnostic, plug-and-play framework for FPS acceleration, composed of \textit{FPS-Prune} and \textit{FPS-Cache}. \textit{FPS-Prune} introduces candidate pruning and iteration pruning to reduce redundant computations in FPS while preserving sampling quality, and \textit{FPS-Cache} eliminates layer-wise redundancy via cache-and-reuse. Integrated into existing CUDA libraries and state-of-the-art PNN accelerators, \textit{FlashFPS} achieves 5.16$\times$ speedup over the standard CUDA baseline on GPU and 2.69$\times$ on PNN accelerators, with negligible accuracy loss, enabling efficient and scalable PNN inference. Codes are released at https://github.com/Yuzhe-Fu/FlashFPS.

点云处理远点采样加速框架

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