{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,11]],"date-time":"2026-03-11T03:35:36Z","timestamp":1773200136153,"version":"3.50.1"},"publisher-location":"New York, NY, USA","reference-count":78,"publisher":"ACM","license":[{"start":{"date-parts":[[2019,10,12]],"date-time":"2019-10-12T00:00:00Z","timestamp":1570838400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.acm.org\/publications\/policies\/copyright_policy#Background"}],"content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":[],"published-print":{"date-parts":[[2019,10,12]]},"DOI":"10.1145\/3352460.3358259","type":"proceedings-article","created":{"date-parts":[[2019,10,11]],"date-time":"2019-10-11T11:16:45Z","timestamp":1570792605000},"page":"629-642","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":43,"title":["Tigris"],"prefix":"10.1145","author":[{"given":"Tiancheng","family":"Xu","sequence":"first","affiliation":[{"name":"Department of Computer Science, University of Rochester"}]},{"given":"Boyuan","family":"Tian","sequence":"additional","affiliation":[{"name":"Department of Computer Science, University of Rochester"}]},{"given":"Yuhao","family":"Zhu","sequence":"additional","affiliation":[{"name":"Department of Computer Science, University of Rochester"}]}],"member":"320","published-online":{"date-parts":[[2019,10,12]]},"reference":[{"key":"e_1_3_2_1_1_1","unstructured":"2018. DNN Accelerator Architecture - SIMD or Systolic? https:\/\/www.sigarch.org\/dnn-accelerator-architecture-simd-or-systolic\/"},{"key":"e_1_3_2_1_2_1","volume-title":"Intel Xeon Processor Scalable Family Datasheet","year":"2018","unstructured":"2018. Intel Xeon Processor Scalable Family Datasheet, Volume Two: Registers. (2018), 55--60."},{"key":"e_1_3_2_1_3_1","unstructured":"2019. Micron DDR4 Power Calculator. https:\/\/www.micron.com\/~\/media\/documents\/products\/power-calculator\/ddr4_power_calc.xlsm"},{"key":"e_1_3_2_1_4_1","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2012.2206675"},{"key":"e_1_3_2_1_5_1","volume-title":"Proceedings of the British machine vision conference (BMVC)","volume":"17","author":"Aly Mohamed","year":"2011","unstructured":"Mohamed Aly, Mario Munich, and Pietro Perona. 2011. Distributed kd-trees for retrieval from very large image collections. In Proceedings of the British machine vision conference (BMVC), Vol. 17."},{"key":"e_1_3_2_1_6_1","doi-asserted-by":"publisher","DOI":"10.1145\/293347.293348"},{"key":"e_1_3_2_1_7_1","doi-asserted-by":"crossref","unstructured":"Jens Behley and Cyrill Stachniss. 2018. Efficient surfel-based SLAM using 3D laser range data in urban environments. In Robotics: Science and Systems (RSS).","DOI":"10.15607\/RSS.2018.XIV.016"},{"key":"e_1_3_2_1_8_1","doi-asserted-by":"publisher","DOI":"10.1145\/361002.361007"},{"key":"e_1_3_2_1_9_1","doi-asserted-by":"publisher","DOI":"10.1117\/12.57955"},{"key":"e_1_3_2_1_10_1","doi-asserted-by":"publisher","DOI":"10.1109\/34.400574"},{"key":"e_1_3_2_1_11_1","volume-title":"Computer Graphics Forum","author":"Boulch Alexandre","unstructured":"Alexandre Boulch and Renaud Marlet. 2016. Deep learning for robust normal estimation in unstructured point clouds. In Computer Graphics Forum, Vol. 35. Wiley Online Library, 281--290."},{"key":"e_1_3_2_1_12_1","volume-title":"Object modelling by registration of multiple range images. Image and vision computing 10, 3","author":"Chen Yang","year":"1992","unstructured":"Yang Chen and G\u00e9rard Medioni. 1992. Object modelling by registration of multiple range images. Image and vision computing 10, 3 (1992), 145--155."},{"key":"e_1_3_2_1_13_1","volume-title":"Robust Reconstruction of Indoor Scenes. In The IEEE Conference on Computer Vision and Pattern Recognition (CVPR).","author":"Choi Sungjoon","year":"2015","unstructured":"Sungjoon Choi, Qian-Yi Zhou, and Vladlen Koltun. 2015. Robust Reconstruction of Indoor Scenes. In The IEEE Conference on Computer Vision and Pattern Recognition (CVPR)."},{"key":"e_1_3_2_1_14_1","doi-asserted-by":"publisher","DOI":"10.1145\/1840845.1840883"},{"key":"e_1_3_2_1_15_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2018.8460653"},{"key":"e_1_3_2_1_16_1","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2017.265"},{"key":"e_1_3_2_1_17_1","first-page":"563","article-title":"3D feature point extraction from LiDAR data using a neural network. International Archives of the Photogrammetry","volume":"41","author":"Feng Yu","year":"2016","unstructured":"Yu Feng, Alexander Schlichting, and Claus Brenner. 2016. 3D feature point extraction from LiDAR data using a neural network. International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences-ISPRS Archives 41 (2016) 41 (2016), 563--569.","journal-title":"Remote Sensing and Spatial Information Sciences-ISPRS Archives"},{"key":"e_1_3_2_1_18_1","volume-title":"An algorithm for finding best matches in logarithmic expected time. ACM Trans. Math. Software","author":"Finkel R","year":"1977","unstructured":"R Finkel, J Friedman, and J Bentley. 1977. An algorithm for finding best matches in logarithmic expected time. ACM Trans. Math. Software (1977), 200--226."},{"key":"e_1_3_2_1_19_1","doi-asserted-by":"publisher","DOI":"10.1145\/358669.358692"},{"key":"e_1_3_2_1_20_1","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-540-24672-5_18"},{"key":"e_1_3_2_1_21_1","unstructured":"Andreas Geiger Philip Lenz Christoph Stiller and Raquel Urtasun. [n. d.]. KITTI Visual Odometry \/ SLAM Evaluation. http:\/\/www.cvlibs.net\/datasets\/kitti\/eval_odometry.php. Accessed April 5 2019."},{"key":"e_1_3_2_1_22_1","doi-asserted-by":"publisher","DOI":"10.5555\/2354409.2354978"},{"key":"e_1_3_2_1_23_1","unstructured":"F. Gieseke J. Heinermann C. Oancea and C. Igel. 2014. Buffer k-d trees: Processing massive nearest neighbor queries on GPUs. (2014)."},{"key":"e_1_3_2_1_24_1","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2004.291"},{"key":"e_1_3_2_1_25_1","volume-title":"Linear Algebra","author":"Golub Gene H","unstructured":"Gene H Golub and Christian Reinsch. 1971. Singular value decomposition and least squares solutions. In Linear Algebra. Springer, 134--151."},{"key":"e_1_3_2_1_26_1","doi-asserted-by":"publisher","DOI":"10.1109\/IM.2003.1240280"},{"key":"e_1_3_2_1_27_1","unstructured":"Christopher G Harris Mike Stephens et al. 1988. A combined corner and edge detector.. In Alvey vision conference Vol. 15. Citeseer 10--5244."},{"key":"e_1_3_2_1_28_1","volume-title":"Gross","author":"Heinzle Simon","year":"2008","unstructured":"Simon Heinzle, Ga\u00ebl Guennebaud, Mario Botsch, and Markus H. Gross. 2008. A Hardware Processing Unit for Point Sets. In Acm Siggraph\/eurographics Symposium on Graphics Hardware."},{"key":"e_1_3_2_1_29_1","doi-asserted-by":"publisher","DOI":"10.1145\/1230100.1230129"},{"key":"e_1_3_2_1_30_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICIP.2010.5653052"},{"key":"e_1_3_2_1_31_1","doi-asserted-by":"publisher","DOI":"10.1109\/TCSVT.2017.2730232"},{"key":"e_1_3_2_1_32_1","doi-asserted-by":"publisher","DOI":"10.1109\/34.584105"},{"key":"e_1_3_2_1_33_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.neucom.2009.05.013"},{"key":"e_1_3_2_1_34_1","volume-title":"Registration and integration of textured 3D data. Image and vision computing 17, 2","author":"Johnson Andrew Edie","year":"1999","unstructured":"Andrew Edie Johnson and Sing Bing Kang. 1999. Registration and integration of textured 3D data. Image and vision computing 17, 2 (1999), 135--147."},{"key":"e_1_3_2_1_35_1","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2009.5152493"},{"key":"e_1_3_2_1_36_1","doi-asserted-by":"crossref","unstructured":"Takuya Kuhara Takaaki Miyajima Masato Yoshimi and Hideharu Amano. 2013. An FPGA Acceleration for the Kd-tree Search in Photon Mapping.","DOI":"10.1007\/978-3-642-36812-7_3"},{"key":"e_1_3_2_1_37_1","volume-title":"Why systolic architectures? IEEE computer 15, 1","author":"Kung Hsiang-Tsung","year":"1982","unstructured":"Hsiang-Tsung Kung. 1982. Why systolic architectures? IEEE computer 15, 1 (1982), 37--46."},{"key":"e_1_3_2_1_38_1","doi-asserted-by":"publisher","DOI":"10.1109\/IGARSS.2016.7730186"},{"key":"e_1_3_2_1_39_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.neucom.2006.01.031"},{"key":"e_1_3_2_1_40_1","doi-asserted-by":"publisher","DOI":"10.1023\/B:VISI.0000029664.99615.94"},{"key":"e_1_3_2_1_41_1","unstructured":"Bruce D Lucas Takeo Kanade et al. 1981. An iterative image registration technique with an application to stereo vision. (1981)."},{"key":"e_1_3_2_1_42_1","volume-title":"Proceedings of the ACM SIGGRAPH\/EUROGRAPHICS conference on Graphics hardware. Eurographics Association, 89--99","author":"Ma Vincent CH","year":"2002","unstructured":"Vincent CH Ma and Michael D McCool. 2002. Low latency photon mapping using block hashing. In Proceedings of the ACM SIGGRAPH\/EUROGRAPHICS conference on Graphics hardware. Eurographics Association, 89--99."},{"key":"e_1_3_2_1_43_1","doi-asserted-by":"publisher","DOI":"10.1016\/0167-8655(83)90063-6"},{"key":"e_1_3_2_1_44_1","volume-title":"Micron Technology","author":"Inc.","year":"2018","unstructured":"Inc. Micron Technology. 2018. 16Gb, 32Gb: x4, x8 3DS DDR4 SDRAM. https:\/\/www.micron.com\/-\/media\/documents\/products\/data-sheet\/dram\/ddr4\/16gb_32gb_x4_x8_3ds_ddr4_sdram.pdf"},{"key":"e_1_3_2_1_45_1","volume-title":"Numerical analysis","author":"Mor\u00e9 Jorge J","unstructured":"Jorge J Mor\u00e9. 1978. The Levenberg-Marquardt algorithm: implementation and theory. In Numerical analysis. Springer, 105--116."},{"key":"e_1_3_2_1_46_1","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2014.2321376"},{"key":"e_1_3_2_1_47_1","volume-title":"Datenbanksysteme in B\u00fcro, Technik und Wissenschaft","author":"Ooi Beng C","unstructured":"Beng C Ooi. 1987. Spatial kd-tree: A data structure for geographic database. In Datenbanksysteme in B\u00fcro, Technik und Wissenschaft. Springer, 247--258."},{"key":"e_1_3_2_1_48_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICCVW.2017.285"},{"key":"e_1_3_2_1_49_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2017.25"},{"key":"e_1_3_2_1_50_1","volume-title":"Computer Graphics Forum","author":"Popov Stefan","unstructured":"Stefan Popov, Johannes G\u00fcnther, Hans-Peter Seidel, and Philipp Slusallek. 2007. Stackless kd-tree traversal for high performance GPU ray tracing. In Computer Graphics Forum, Vol. 26. Wiley Online Library, 415--424."},{"key":"e_1_3_2_1_51_1","doi-asserted-by":"publisher","DOI":"10.1145\/1198555.1198797"},{"key":"e_1_3_2_1_52_1","unstructured":"Charles Ruizhongtai Qi Li Yi Hao Su and Leonidas J Guibas. 2017. Pointnet++: Deep hierarchical feature learning on point sets in a metric space. In Advances in Neural Information Processing Systems. 5099--5108."},{"key":"e_1_3_2_1_53_1","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-04667-4_20"},{"key":"e_1_3_2_1_54_1","volume-title":"Computer Graphics Forum","author":"Rocchini CMPPC","unstructured":"CMPPC Rocchini, Paulo Cignoni, Claudio Montani, Paolo Pingi, and Roberto Scopigno. 2001. A low cost 3D scanner based on structured light. In Computer Graphics Forum, Vol. 20. Wiley Online Library, 299--308."},{"key":"e_1_3_2_1_55_1","volume-title":"Efficient variants of the ICP algorithm.. In 3dim","author":"Rusinkiewicz Szymon","unstructured":"Szymon Rusinkiewicz and Marc Levoy. 2001. Efficient variants of the ICP algorithm.. In 3dim, Vol. 1. 145--152."},{"key":"e_1_3_2_1_56_1","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2009.5152473"},{"key":"e_1_3_2_1_57_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2011.5980567"},{"key":"e_1_3_2_1_58_1","doi-asserted-by":"publisher","DOI":"10.1038\/nphoton.2010.148"},{"key":"e_1_3_2_1_59_1","doi-asserted-by":"publisher","DOI":"10.1145\/1291233.1291311"},{"key":"e_1_3_2_1_60_1","volume-title":"Improved ICP point cloud registration based on KDTree. 9 (01","author":"Shi G","year":"2016","unstructured":"G Shi, X Gao, and X Dang. 2016. Improved ICP point cloud registration based on KDTree. 9 (01 2016), 2195--2199."},{"key":"e_1_3_2_1_61_1","doi-asserted-by":"publisher","DOI":"10.1007\/s00371-011-0610-y"},{"key":"e_1_3_2_1_62_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2011.5980187"},{"key":"e_1_3_2_1_63_1","unstructured":"Jonathan Dyssel Stets Yongbin Sun Wiley Corning and Scott W Greenwald. 2017. Visualization and labeling of point clouds in virtual reality. In SIGGRAPH Asia 2017 Posters. ACM 31."},{"key":"e_1_3_2_1_64_1","doi-asserted-by":"publisher","DOI":"10.5555\/1927006.1927035"},{"key":"e_1_3_2_1_65_1","unstructured":"Inc. Velodyne LiDAR. 2018. HDL-64E Data Sheet. http:\/\/velodynelidar.com\/docs\/datasheet\/63-9194_Rev-F_HDL-64E_S3_DataSheet_Web.pdf"},{"key":"e_1_3_2_1_66_1","unstructured":"George Vosselman Sander Dijkman et al. 2001. 3D building model reconstruction from point clouds and ground plans. International archives of photogrammetry remote sensing and spatial information sciences 34 3\/W4 (2001) 37--44."},{"key":"e_1_3_2_1_67_1","volume-title":"DenseFusion: 6D Object Pose Estimation by Iterative Dense Fusion. arXiv preprint arXiv:1901.04780","author":"Wang Chen","year":"2019","unstructured":"Chen Wang, Danfei Xu, Yuke Zhu, Roberto Mart\u00edn-Mart\u00edn, Cewu Lu, Li Fei-Fei, and Silvio Savarese. 2019. DenseFusion: 6D Object Pose Estimation by Iterative Dense Fusion. arXiv preprint arXiv:1901.04780 (2019)."},{"key":"e_1_3_2_1_68_1","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2015.7298652"},{"key":"e_1_3_2_1_69_1","volume-title":"School Of Information, and Beijing Union University","author":"Wang Yujian","year":"2017","unstructured":"Yujian Wang, Tengfei Lian, W. U. Mingming, Qian Gao, School Of Information, and Beijing Union University. 2017. Point cloud registration based on octree and KD-tree index. Engineering of Surveying & Mapping (2017)."},{"key":"e_1_3_2_1_70_1","volume-title":"2010 Australasian Conference on Robotics and Automation. 1--3.","author":"Whitty Mark","year":"2010","unstructured":"Mark Whitty, Stephen Cossell, Kim Son Dang, Jose Guivant, and Jayantha Katupitiya. 2010. Autonomous navigation using a real-time 3d point cloud. In 2010 Australasian Conference on Robotics and Automation. 1--3."},{"key":"e_1_3_2_1_71_1","volume-title":"International Conference on Field Programmable Logic & Applications.","author":"Winterstein Felix","unstructured":"Felix Winterstein, Samuel Bayliss, and George A. Constantinides. 2013. FPGA-based K-means clustering using tree-based data structures. In International Conference on Field Programmable Logic & Applications."},{"key":"e_1_3_2_1_72_1","volume-title":"Computer Graphics Forum","author":"Xiao Chunxia","year":"2065","unstructured":"Chunxia Xiao and Meng Liu. 2010. Efficient mean-shift clustering using gaussian kd-tree. In Computer Graphics Forum, Vol. 29. Wiley Online Library, 2065--2073."},{"key":"e_1_3_2_1_73_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.optlaseng.2017.05.011"},{"key":"e_1_3_2_1_74_1","volume-title":"ACM Transactions on Graphics (TOG)","volume":"28","author":"Xu Kun","year":"2009","unstructured":"Kun Xu, Yong Li, Tao Ju, Shi-Min Hu, and Tian-Qiang Liu. 2009. Efficient affinity-based edit propagation using KD tree. In ACM Transactions on Graphics (TOG), Vol. 28. ACM, 118."},{"key":"e_1_3_2_1_75_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.ins.2016.01.095"},{"key":"e_1_3_2_1_76_1","first-page":"9","article-title":"LOAM: Lidar Odometry and Mapping in Real-time","volume":"2","author":"Zhang Ji","year":"2014","unstructured":"Ji Zhang and Sanjiv Singh. 2014. LOAM: Lidar Odometry and Mapping in Real-time.. In Robotics: Science and Systems, Vol. 2. 9.","journal-title":"Robotics: Science and Systems"},{"key":"e_1_3_2_1_77_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2015.7139486"},{"key":"e_1_3_2_1_78_1","volume-title":"Image registration methods: a survey. Image and vision computing 21, 11","author":"Zitova Barbara","year":"2003","unstructured":"Barbara Zitova and Jan Flusser. 2003. Image registration methods: a survey. Image and vision computing 21, 11 (2003), 977--1000."}],"event":{"name":"MICRO '52: The 52nd Annual IEEE\/ACM International Symposium on Microarchitecture","location":"Columbus OH USA","acronym":"MICRO '52","sponsor":["SIGMICRO ACM Special Interest Group on Microarchitectural Research and Processing","IEEE CS"]},"container-title":["Proceedings of the 52nd Annual IEEE\/ACM International Symposium on Microarchitecture"],"original-title":[],"link":[{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3352460.3358259","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/3352460.3358259","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,7,29]],"date-time":"2025-07-29T22:27:19Z","timestamp":1753828039000},"score":1,"resource":{"primary":{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3352460.3358259"}},"subtitle":["Architecture and Algorithms for 3D Perception in Point Clouds"],"short-title":[],"issued":{"date-parts":[[2019,10,12]]},"references-count":78,"alternative-id":["10.1145\/3352460.3358259","10.1145\/3352460"],"URL":"https:\/\/doi.org\/10.1145\/3352460.3358259","relation":{},"subject":[],"published":{"date-parts":[[2019,10,12]]},"assertion":[{"value":"2019-10-12","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}