{"id":"https://openalex.org/W4404250791","doi":"https://doi.org/10.5821/dissertation-2117-417338","title":"Improving autonomous driving systems with CPU extensions for point cloud processing","display_name":"Improving autonomous driving systems with CPU extensions for point cloud processing","publication_year":2024,"publication_date":"2024-10-21","ids":{"openalex":"https://openalex.org/W4404250791","doi":"https://doi.org/10.5821/dissertation-2117-417338"},"language":"en","primary_location":{"id":"doi:10.5821/dissertation-2117-417338","is_oa":true,"landing_page_url":"https://doi.org/10.5821/dissertation-2117-417338","pdf_url":"https://upcommons.upc.edu/bitstream/2117/417338/1/TPHEB1de1.pdf","source":null,"license":"public-domain","license_id":"https://openalex.org/licenses/public-domain","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Universitat Polit\u00e8cnica de Catalunya","raw_type":"dissertation"},"type":"dissertation","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://upcommons.upc.edu/bitstream/2117/417338/1/TPHEB1de1.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5015275122","display_name":"Pedro Henrique Exenberger Becker","orcid":"https://orcid.org/0000-0001-5947-1913"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Exenberger Becker, Pedro Henrique","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5015275122"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10719","display_name":"3D Shape Modeling and Analysis","score":0.9710000157356262,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10719","display_name":"3D Shape Modeling and Analysis","score":0.9710000157356262,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T14339","display_name":"Image Processing and 3D Reconstruction","score":0.9564999938011169,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9459999799728394,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/cloud-computing","display_name":"Cloud computing","score":0.6800049543380737},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6102840304374695},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.47211015224456787},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.46386876702308655},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.3742753267288208},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.35776492953300476},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.34594616293907166},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20084711909294128},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.07432913780212402}],"concepts":[{"id":"https://openalex.org/C79974875","wikidata":"https://www.wikidata.org/wiki/Q483639","display_name":"Cloud computing","level":2,"score":0.6800049543380737},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6102840304374695},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.47211015224456787},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.46386876702308655},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.3742753267288208},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.35776492953300476},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.34594616293907166},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20084711909294128},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.07432913780212402},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.5821/dissertation-2117-417338","is_oa":true,"landing_page_url":"https://doi.org/10.5821/dissertation-2117-417338","pdf_url":"https://upcommons.upc.edu/bitstream/2117/417338/1/TPHEB1de1.pdf","source":null,"license":"public-domain","license_id":"https://openalex.org/licenses/public-domain","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Universitat Polit\u00e8cnica de Catalunya","raw_type":"dissertation"},{"id":"pmh:oai:www.tdx.cat:10803/692485","is_oa":false,"landing_page_url":"http://hdl.handle.net/10803/692485","pdf_url":null,"source":{"id":"https://openalex.org/S4306401111","display_name":"Tesis Doctorals en Xarxa (Consorci de Serveis Universitaris de Catalunya)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210090028","host_organization_name":"Consorci de Serveis Universitaris de Catalunya","host_organization_lineage":["https://openalex.org/I4210090028"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"TDX (Tesis Doctorals en Xarxa)","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:oai:upcommons.upc.edu:2117/417338","is_oa":true,"landing_page_url":"https://hdl.handle.net/10803/692485","pdf_url":"https://upcommons.upc.edu/bitstreams/2511801b-6485-45e6-aec4-657285be0185/download","source":{"id":"https://openalex.org/S4210207057","display_name":"QRU Quaderns de Recerca en Urbanisme","issn_l":"2014-9689","issn":["2014-9689","2385-6777"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/P4310322448","host_organization_name":"Q71272178","host_organization_lineage":["https://openalex.org/P4310322448"],"host_organization_lineage_names":["Q71272178"],"type":"journal"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"TDX (Tesis Doctorals en Xarxa)","raw_type":"info:eu-repo/semantics/doctoralThesis"}],"best_oa_location":{"id":"doi:10.5821/dissertation-2117-417338","is_oa":true,"landing_page_url":"https://doi.org/10.5821/dissertation-2117-417338","pdf_url":"https://upcommons.upc.edu/bitstream/2117/417338/1/TPHEB1de1.pdf","source":null,"license":"public-domain","license_id":"https://openalex.org/licenses/public-domain","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Universitat Polit\u00e8cnica de Catalunya","raw_type":"dissertation"},"sustainable_development_goals":[{"score":0.9100000262260437,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[{"id":"https://openalex.org/G1643641974","display_name":null,"funder_award_id":"AEI/FEDER","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G3025668325","display_name":null,"funder_award_id":"RB-I00","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G3429648993","display_name":null,"funder_award_id":"PID202","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G4063829774","display_name":null,"funder_award_id":"ICREA","funder_id":"https://openalex.org/F4320334830","funder_display_name":"Ag\u00e8ncia de Gesti\u00f3 d'Ajuts Universitaris i de Recerca"},{"id":"https://openalex.org/G4816244515","display_name":null,"funder_award_id":"FEDER","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G7493544516","display_name":null,"funder_award_id":"2021SGR00383","funder_id":"https://openalex.org/F4320334830","funder_display_name":"Ag\u00e8ncia de Gesti\u00f3 d'Ajuts Universitaris i de Recerca"},{"id":"https://openalex.org/G7667637836","display_name":null,"funder_award_id":"PID2020-113172RB-I00","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G8183462516","display_name":null,"funder_award_id":"AGAUR","funder_id":"https://openalex.org/F4320322121","funder_display_name":"Instituci\u00f3 Catalana de Recerca i Estudis Avan\u00e7ats"},{"id":"https://openalex.org/G8330150804","display_name":null,"funder_award_id":"TIN2016-75344-R","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"}],"funders":[{"id":"https://openalex.org/F4320322121","display_name":"Instituci\u00f3 Catalana de Recerca i Estudis Avan\u00e7ats","ror":"https://ror.org/0371hy230"},{"id":"https://openalex.org/F4320332728","display_name":"National Highway Traffic Safety Administration","ror":"https://ror.org/04gcfqs37"},{"id":"https://openalex.org/F4320334830","display_name":"Ag\u00e8ncia de Gesti\u00f3 d'Ajuts Universitaris i de Recerca","ror":"https://ror.org/01n4pqe45"},{"id":"https://openalex.org/F4320335598","display_name":"Agencia Estatal de Investigaci\u00f3n","ror":null}],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4404250791.pdf"},"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W4244478748","https://openalex.org/W4223488648","https://openalex.org/W2134969820","https://openalex.org/W2251605416","https://openalex.org/W1997222214","https://openalex.org/W2560439919","https://openalex.org/W4389340727","https://openalex.org/W3150465815","https://openalex.org/W2802581102","https://openalex.org/W4205786897"],"abstract_inverted_index":{"(English)":[0],"Autonomous":[1],"Driving":[2],"Systems":[3],"(ADS)":[4,530,1138],"are":[5,97,355,435],"at":[6],"the":[7,19,201,219,227,264,303,307,327,345,376,391,414,421,425,432,464,487,491],"cusp":[8],"of":[9,75,169,231,246,306,310,416,424,468,495],"large-scale":[10],"adoption,":[11],"promising":[12],"accident":[13],"reduction":[14],"and":[15,22,47,72,91,113,152,253,291,298,320,431,451,456,514,647,1249],"market":[16,54],"potential.":[17],"However,":[18],"complex":[20,551],"software":[21,80,153,392,1158,1228,1326],"sensor":[23,94,643,1245],"data":[24,198,220,287],"pressure":[25],"for":[26,53,65,107,121,154,404],"better":[27],"hardware":[28,63,119,142,151,1176,1215,1279,1312,1324],"support":[29,64,120],"in":[30,185,209,275,317,331,407,420,481],"this":[31,367,439],"safety-critical":[32],"scenario,":[33],"where":[34],"high":[35],"performance":[36,71,290],"is":[37,193],"mandatory":[38],"to":[39,147,250,266,271,278,369,402,460,504,522],"meet":[40],"latency":[41,305],"deadlines.":[42],"Additionally,":[43],"energy":[44,292,322],"efficiency,":[45],"cost,":[46],"volume":[48],"must":[49],"also":[50],"be":[51,499],"first-class":[52],"feasibility,":[55],"calling":[56],"computer":[57],"architects":[58],"into":[59],"action.":[60],"To":[61,257],"enrich":[62],"ADS,":[66,613,1218],"we":[67,145,164,191,261,348],"carry":[68],"out":[69],"a":[70,77,166,181,222,243,385,532,536,628,662,682,707,742,746,756,850,890,976,1040,1079,1107,1111,1127,1140,1145,1353,1449],"power":[73],"characterization":[74],"Autoware.ai,":[76,622,1226],"state-of-the-art":[78],"ADS":[79],"stack.":[81],"We":[82,238,365,383,437],"find":[83],"significant":[84],"time":[85],"spent":[86],"processing":[87,133,157,493],"Light":[88,644,1246],"Imaging":[89,645,1247],"Detection":[90,646,1248],"Ranging":[92,648,1250],"(LiDAR)":[93],"data,":[95],"which":[96,196],"widely":[98],"used":[99,184],"by":[100,204,312,324,477],"ADS.":[101,629,653,1234,1256],"LiDAR":[102,122,655,685,1283],"captures":[103],"3D":[104,660,1261],"point":[105,131,155,173,232,483],"clouds":[106],"tasks":[108],"such":[109],"as":[110],"segmentation,":[111],"localization,":[112],"object":[114],"detection.":[115],"Despite":[116],"its":[117],"importance,":[118],"has":[123,518],"only":[124],"recently":[125],"gained":[126],"traction.":[127],"Further,":[128],"while":[129,294],"most":[130],"cloud":[132,156,174,233,484],"algorithms":[134],"run":[135],"on":[136,178,255,314,575],"CPUs,":[137,975],"recent":[138],"works":[139],"propose":[140,192,384],"costly":[141],"accelerators.":[143,523],"Instead,":[144],"aim":[146],"use":[148],"existing":[149],"general-purpose":[150],"with":[158,236,339,362,375,409,440,508],"minor":[159],"CPU":[160,170,248,378,754,833,1351,1431],"augmentations.":[161],"For":[162],"that,":[163],"introduce":[165],"small":[167,244],"set":[168,245],"instructions":[171,249,265,445],"targeting":[172],"neighbor":[175,202,337,352,373,475,496],"search":[176,203,338,353,374,397,403,476,497],"based":[177],"k-d":[179,206,359,426,797,957,1393],"trees,":[180],"key":[182],"operation":[183],"various":[186],"algorithms.":[187],"The":[188],"first":[189],"technique":[190],"K-D":[194,215,240,284,300,334,777,827,884,922,1374,1425,1485],"Bonsai,":[195,778,1375],"reduces":[197,286,321],"movement":[199],"during":[200],"compressing":[205],"tree":[207,360],"leaves":[208],"execution":[210],"time,":[211],"exploiting":[212,226],"value":[213],"similarity.":[214],"Bonsai":[216,241,285,301,335,828,885,923,1426],"further":[217,500],"compresses":[218],"using":[221],"reduced":[223],"floating-point":[224],"representation,":[225],"physically":[228],"limited":[229],"range":[230],"values":[234],"collected":[235],"LiDAR.":[237,825,1423],"implement":[239],"through":[242],"new":[247,444],"compress,":[251],"decompress,":[252],"operate":[254],"points.":[256],"maintain":[258],"baseline":[259,296],"accuracy,":[260],"carefully":[262],"craft":[263],"detect":[267],"precision":[268,277],"loss":[269],"due":[270],"compression,":[272],"allowing":[273],"re-computation":[274],"full":[276],"take":[279,461],"place":[280],"if":[281],"necessary.":[282],"Therefore,":[283],"movement,":[288],"improving":[289],"efficiency":[293],"guaranteeing":[295],"accuracy":[297],"programmability.":[299],"improves":[302,336],"end-to-end":[304,519],"segmentation":[308],"task":[309],"Autoware.ai":[311,482,897],"9.26%":[313],"average,":[315],"12.19%":[316],"tail":[318],"latency,":[319],"consumption":[323],"10.84%.":[325],"Unlike":[326],"expensive":[328],"accelerators":[329],"proposed":[330],"related":[332],"work,":[333],"minimal":[340,509],"area":[341,510],"increase":[342],"(0.36%).":[343],"In":[344],"second":[346],"technique,":[347],"found":[349],"that":[350,446],"consecutive":[351,400],"queries":[354,401,417],"often":[356],"similar,":[357],"visiting":[358],"nodes":[361,955],"considerable":[363],"resemblance.":[364],"leverage":[366],"observation":[368],"cheaply":[370],"speed":[371],"up":[372,474],"available":[377],"Vector":[379],"Processing":[380],"Unit":[381],"(VPU).":[382],"hardware/software":[386],"co-design":[387],"called":[388],"Caravan.":[389,985],"At":[390],"level,":[393],"Caravan-":[394],"SW":[395],"exploits":[396],"similarity,":[398],"gathering":[399],"their":[405],"neighbors":[406],"parallel":[408],"SIMD":[410,458],"instructions.":[411],"Yet,":[412],"when":[413],"navigation":[415],"diverges,":[418],"particularly":[419],"deeper":[422],"levels":[423],"tree,":[427],"Caravan-SW":[428,472,990,1028,1068],"faces":[429],"sparsity":[430,467],"VPU":[433,971,1036],"lanes":[434],"underutilized.":[436],"tackle":[438],"Caravan-HW,":[441,1043,1091],"adding":[442],"two":[443],"re-index":[447],"valid":[448],"vector":[449],"elements":[450,1050],"allow":[452],"fast":[453],"operand":[454],"shuffling":[455],"dense":[457],"operations":[459],"place,":[462],"suppressing":[463],"hard-to-predict":[465],"runtime":[466],"Caravan-SW.":[469,1065],"With":[470,486],"AVX512,":[471,1067],"speeds":[473],"4.05\u00d7":[478,1076],"(1.85\u00d7":[479,1077],"end-to-end)":[480],"segmentation.":[485],"additional":[488],"Caravan-HW":[489],"support,":[490],"leaf":[492],"part":[494],"can":[498],"optimized,":[501],"boosting":[502],"gains":[503],"5.19\u00d7":[505,1108],"(1.97\u00d7":[506,1109],"end-to-end),":[507],"costs.":[511],"Our":[512],"programmable":[513],"minimally":[515],"intrusive":[516],"solution":[517],"benefits":[520],"comparable":[521],"(Catal\u00e0)":[524],"Els":[525,654],"Sistemes":[526],"de":[527,534,545,556,559,569,584,596,609,640,658,679,700,702,704,714,730,737,753,759,763,785,790,795,804,815,832,847,867,901,907,927,949,967,982,988,994,1015,1025,1034,1064,1072,1084,1086,1094,1096,1099,1135,1142,1153,1163,1165,1175,1191,1208,1214,1242,1269,1273,1278,1293,1296,1298,1300,1311,1318,1327,1334,1348,1350,1356,1360,1381,1386,1396,1401,1412,1418,1430,1446,1466],"Conducci\u00f3":[528],"Aut\u00f2noma":[529],"estan":[531],"punt":[533,816],"l'adopci\u00f3":[535],"gran":[537,1146],"escala,":[538,1147],"podent":[539],"reduir":[540],"accidents":[541],"i":[542,553,592,617,669,694,717,728,837,873,876,909,1031,1056,1121],"oferir":[543],"possibilitats":[544],"mercat.":[546,604],"No":[547,1009],"obstant":[548,1010],"aix\u00f2,":[549,747,1011,1041],"el":[550,582,590,593,607,615,677,722,783,865,871,911,1092,1157,1182,1189,1197,1200,1212,1220,1276,1379,1464,1470],"programari":[552,624,729],"la":[554,557,601,618,665,667,670,674,696,708,743,757,788,802,813,819,851,856,879,882,887,893,925,947,965,970,992,1013,1035,1062,1070,1082,1097,1143,1161,1194,1291,1305,1340,1354,1384,1399,1410,1416,1450,1455,1473,1480,1483],"pressi\u00f3":[555],"quantitat":[558],"dades":[560,641,786,807],"generada":[561],"pels":[562,652],"seus":[563,1002],"sensors":[564],"exigeixen":[565],"un":[566,623,635,749,899,903,915,930,980,1075,1172,1236,1345],"millor":[567],"suport":[568,608,678],"maquinari":[570,610,680,715,727],"en":[571,761,766,772,787,798,855,892,898,905,914,933,946,973,1004,1020,1074,1081,1177,1304,1339,1358,1363,1369,1383,1394,1454],"aquesta":[572,961],"aplicaci\u00f3":[573],"cr\u00edtica,":[574,1180],"l'alt":[576],"rendiment":[577,616,872],"\u00e9s":[578,725,860],"obligatori":[579],"per":[580,599,611,621,627,661,681,734,834,896,963,999,1053],"minimitzar":[581],"temps":[583,636,799],"reacci\u00f3.":[585],"A":[586,691,917,986,1271],"m\u00e9s,":[587,692,1103],"l'efici\u00e8ncia":[588,874],"energ\u00e8tica,":[589,875],"cost":[591],"volum":[594],"han":[595],"ser":[597,952,1203],"optimitzats":[598],"garantir":[600],"viabilitat":[602],"del":[603,642,1229,1231,1244,1391],"Per":[605,745,1039],"millorar":[606],"als":[612,1130],"caracteritzem":[614],"pot\u00e8ncia":[619],"demandada":[620,1224],"d'\u00faltima":[625],"generaci\u00f3":[626],"Hem":[630],"trobat":[631],"que":[632,695,781,942,1048,1377,1443],"es":[633,808,863,869,1037,1185,1322,1459],"dedica":[634],"significatiu":[637],"al":[638,1240],"processament":[639,701,1093],"(LiDAR),":[649,1251],"\u00e0mpliament":[650],"utilitzat":[651],"capturen":[656],"n\u00favols":[657,703,736,762,1085],"punts":[659,705,738,764,1087],"tasques":[663,683],"com":[664],"segmentaci\u00f3,":[666],"localitzaci\u00f3":[668],"detecci\u00f3":[671],"d'objectes.":[672],"Malgrat":[673],"seva":[675],"import\u00e0ncia,":[676],"amb":[684,739,776,824,829,929,958,969,1006,1113],"nom\u00e9s":[686],"ha":[687,1285],"guanyat":[688],"tracci\u00f3":[689],"recentment.":[690],"tot":[693],"majoria":[697],"dels":[698,821,919],"algoritmes":[699],"s'executen":[706],"CPU,":[709,1306],"treballs":[710,920],"recents":[711],"proposen":[712],"acceleradors":[713],"costosos":[716,1313],"complexos.":[718],"En":[719,936,1316],"lloc":[720],"d'aix\u00f2,":[721],"nostre":[723],"objectiu":[724],"utilitzar":[726],"prop\u00f2sit":[731],"general":[732,1329],"existent":[733],"processar":[735,1332],"petites":[740],"modificacions":[741],"CPU.":[744,1341],"introdu\u00efm":[748],"petit":[750],"conjunt":[751],"d'instruccions":[752],"dirigides":[755],"cerca":[758,789,926,948,966,1071,1098],"ve\u00efns":[760,791,928,950,968,1003,1073,1100],"basats":[765],"arbres":[767],"k-d,":[768,1027,1365],"una":[769,779,937,1227,1366],"operaci\u00f3":[770],"clau":[771],"diversos":[773],"algoritmes.":[774],"Comencem":[775],"t\u00e8cnica":[780],"redueix":[782,864,910],"moviment":[784,866],"comprimint":[792],"les":[793,842,943,974,1016,1058],"fulles":[794,1095],"l'arbre":[796,1026],"d'execuci\u00f3,":[800],"explotant":[801],"similitud":[803,993,1400],"valors.":[805],"Les":[806],"comprimeixen":[809],"encara":[810,1102],"m\u00e9s":[811,1023],"reduint":[812],"representaci\u00f3":[814,857],"flotant,":[817],"aprofitant":[818],"limitaci\u00f3":[820],"valors":[822],"recollits":[823],"Implementem":[826],"noves":[830,1046],"instruccions":[831,843,1007,1047],"comprimir,":[835,1433],"descomprimir":[836,1434],"operar":[838,1436],"sobre":[839,1437],"punts.":[840],"Projectem":[841],"perqu\u00e8":[844],"detectin":[845],"p\u00e8rdues":[846],"precisi\u00f3":[848,880],"degudes":[849],"compressi\u00f3,":[852],"permetent":[853],"recomputar":[854,1453],"original":[858,1457],"si":[859,1458],"necessari.":[861],"Aix\u00ed,":[862],"dades,":[868],"millora":[870,886,924],"no":[877,1477],"s'afecta":[878],"o":[881,1482],"programabilitat.":[883],"lat\u00e8ncia":[888,906],"d'extrem":[889,1078,1110,1126],"extrem":[891,1128],"segmentaci\u00f3":[894,1083],"usada":[895],"9,26%":[900],"mitjana,":[902],"12,19%":[904],"cua,":[908],"consum":[912],"d'energia":[913],"10,84%.":[916],"difer\u00e8ncia":[918],"relacionats,":[921],"augment":[931],"m\u00ednim":[932],"l'\u00e0rea":[934],"(0,36%).":[935],"segona":[938],"t\u00e8cnica,":[939],"vam":[940],"veure":[941],"consultes":[944,997,1017],"consecutives":[945,998],"solen":[951],"similars,":[953],"visitant":[954],"d'arbres":[956],"similitud.":[959],"Utilitzem":[960],"observaci\u00f3":[962],"accelerar":[964],"disponible":[972],"baix":[977],"cost.":[978],"Proposem":[979],"co-disseny":[981],"maquinari/programari":[983],"anomenat":[984],"nivell":[987],"programari,":[989],"explota":[991],"cerca,":[995],"agrupant":[996],"buscar":[1000],"els":[1001,1021,1032,1105],"paral\u00b7lel":[1005],"SIMD.":[1008],"quan":[1012],"navegaci\u00f3":[1014],"divergeix,":[1018],"especialment":[1019],"nivells":[1022],"profunds":[1024],"enfronta":[1029],"dispersi\u00f3":[1030,1063],"carrils":[1033],"subutilitzen.":[1038],"proposem":[1042],"afegint":[1044],"dues":[1045],"reindexen":[1049],"vectorials":[1051],"v\u00e0lids":[1052],"reordenar-los":[1054],"r\u00e0pidament":[1055],"densificar":[1057],"operacions":[1059],"SIMD,":[1060],"eliminant":[1061],"Amb":[1066],"accelera":[1069],"extrem)":[1080],"d'Autoware.ai.":[1088],"Si":[1089],"afegim":[1090],"s'optimitza":[1101],"augmentant":[1104],"guanys":[1106],"extrem),":[1112],"costos":[1114],"m\u00ednims":[1115],"d'\u00e0rea.":[1116],"La":[1117],"nostra":[1118],"soluci\u00f3":[1119],"programable":[1120],"poc":[1122],"intrusiva":[1123],"ofereix":[1124],"beneficis":[1125],"comparables":[1129],"acceleradors.":[1131],"(Espa\u00f1ol)":[1132],"Los":[1133,1257,1403],"Sistemas":[1134],"Conducci\u00f3n":[1136],"Aut\u00f3noma":[1137],"est\u00e1n":[1139],"punto":[1141,1413],"adopci\u00f3n":[1144],"podiendo":[1148],"reducir":[1149],"accidentes":[1150],"y":[1151,1160,1199,1222,1267,1314,1325,1435,1472,1476],"posiblidades":[1152],"mercado.":[1154,1209],"Sin":[1155],"embargo,":[1156],"complejo":[1159],"presi\u00f3n":[1162],"cantidad":[1164],"datos":[1166,1243,1382,1404],"generado":[1167],"por":[1168,1225,1254],"sus":[1169],"sensores":[1170],"exigen":[1171],"mejor":[1173],"soporte":[1174,1213,1277],"esta":[1178],"aplicaci\u00f3n":[1179],"donde":[1181],"alto":[1183],"rendimiento":[1184,1221,1471],"obligatorio":[1186],"para":[1187,1205,1216,1233,1262,1280,1331,1432,1442],"minimizar":[1188],"tiempo":[1190,1237,1395],"reacci\u00f3n.":[1192],"Adem\u00e1s,":[1193,1289],"eficiencia":[1195,1474],"energ\u00e9tica,":[1196,1475],"coste":[1198],"volumen":[1201],"deben":[1202],"optimizados":[1204],"garantizar":[1206],"viabilidad":[1207],"Para":[1210,1342],"mejorar":[1211],"los":[1217,1255,1294,1419],"caracterizamos":[1219],"potencia":[1223],"estado":[1230],"arte":[1232],"Encontramos":[1235],"significativo":[1238],"dedicado":[1239],"procesamiento":[1241,1297],"ampliamente":[1252],"utilizado":[1253],"LiDARs":[1258],"capturan":[1259],"nubes":[1260,1299,1333,1359],"tareas":[1263,1281],"como":[1264],"segmentaci\u00f3n,":[1265],"localizaci\u00f3n":[1266],"detecci\u00f3n":[1268],"objetos.":[1270],"pesar":[1272],"su":[1274],"importancia,":[1275],"con":[1282,1336,1373,1422,1427],"solo":[1284],"ganado":[1286],"tracci\u00f3n":[1287],"recientemente.":[1288],"aunque":[1290],"mayor\u00eda":[1292],"algoritmos":[1295],"puntos":[1301,1335,1361],"se":[1302,1405,1462,1468,1478],"ejecutan":[1303],"trabajos":[1307],"recientes":[1308],"proponen":[1309],"aceleradores":[1310],"complejos.":[1315],"lugar":[1317],"eso,":[1319],"nuestro":[1320],"objetivo":[1321],"utilizar":[1323],"prop\u00f3sito":[1328],"existente":[1330],"peque\u00f1as":[1337],"modificaciones":[1338],"ello,":[1343],"introducimos":[1344],"peque\u00f1o":[1346],"conjunto":[1347],"instrucciones":[1349,1429,1441],"dirigidas":[1352],"b\u00fasqueda":[1355,1385],"vecinos":[1357,1387],"basados":[1362],"\u00e1rboles":[1364],"operaci\u00f3n":[1367],"clave":[1368],"varios":[1370],"algoritmos.":[1371],"Empezamos":[1372],"t\u00e9cnica":[1376],"reduce":[1378,1463],"movimiento":[1380,1465],"comprimiendo":[1388],"las":[1389,1440],"hojas":[1390],"\u00e1rbol":[1392],"ejecuci\u00f3n,":[1397],"explotando":[1398],"valores.":[1402],"comprimen":[1406],"a\u00fan":[1407],"m\u00e1s":[1408],"reduciendo":[1409],"representaci\u00f3n":[1411,1456],"flotante,":[1414],"aprovechando":[1415],"limitaci\u00f3n":[1417],"valores":[1420],"recogidos":[1421],"Implementamos":[1424],"nuevas":[1428],"puntos.":[1438],"Proyectamos":[1439],"detecten":[1444],"p\u00e9rdidas":[1445],"precisi\u00f3n":[1447,1481],"debido":[1448],"compresi\u00f3n,":[1451],"permitiendo":[1452],"necesario.":[1460],"As\u00ed,":[1461],"datos,":[1467],"mejora":[1469],"afecta":[1479],"programabilidad.":[1484],"Bon":[1486]},"counts_by_year":[],"updated_date":"2026-03-25T13:04:00.132906","created_date":"2024-11-12T00:00:00"}