FlashBEV: IOを考慮した高速かつメモリ効率の高い正確なBEV変換
FlashBEV: Fast and Memory-Efficient Exact BEV Transformation with IO-Awareness
カメラベースの3D知覚におけるBEV変換の計算を、中間テンソルの生成を避ける再計算と融合実行により高速化・省メモリ化する手法を提案した。
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著者: Shunsuke Yokokawa, Hironori Kasahara
分類: cs.CV, cs.RO
原文アブストラクト
Bird's-eye-view (BEV) perception is a core component of camera-based 3D understanding in autonomous driving, where view transformation (VT) maps multi-camera image features into a unified BEV representation. Sampling-based view transformation (Sampling-VT) is attractive because it supports dense and continuous BEV aggregation for high-resolution and long-range perception. Its deployment bottleneck, however, is systems-level: standard tensorized implementations of Sampling-VT -- which we refer to as Tensorized Sampling-VT -- explicitly materialize large height-dependent intermediate tensors, causing memory and latency costs that scale poorly with vertical resolution and the number of cameras. We revisit Tensorized Sampling-VT from an operator-execution perspective and show that it follows a gather-reduction pattern: each BEV query independently accumulates contributions across cameras and height bins, enabling thread-local accumulation with on-the-fly recomputation that eliminates the need to materialize height- and camera-dependent intermediates. Based on this insight, we propose FlashBEV, a fully fused and IO-aware execution strategy mathematically equivalent to Tensorized Sampling-VT (same operator output) while substantially reducing global memory traffic and kernel-launch overhead. Experiments show that FlashBEV achieves more than an order of magnitude lower peak GPU memory and significant inference-latency speedups, with memory effectively independent of the number of height bins, reducing the operator's peak memory to O(BCXY) (output only). This unlocks higher BEV range/resolution and vertical discretization within fixed deployment budgets on memory-constrained devices. Our contribution is an execution redesign -- same math, different execution -- that removes a key scalability barrier for deployment-ready Sampling-VT. Code available at https://github.com/yokosyun/FlashBEV
