{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,6,21]],"date-time":"2025-06-21T11:40:08Z","timestamp":1750506008738,"version":"3.41.0"},"publisher-location":"New York, NY, USA","reference-count":76,"publisher":"ACM","funder":[{"DOI":"10.13039\/100019180","name":"HORIZON EUROPE European Research Council","doi-asserted-by":"publisher","award":["833057"],"award-info":[{"award-number":["833057"]}],"id":[{"id":"10.13039\/100019180","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Spanish State Research Agency (MCIN\/AEI)","award":["PID2020-113172RB-I00"],"award-info":[{"award-number":["PID2020-113172RB-I00"]}]},{"name":"Spanish State Research Agency (AEI\/FEDER, EU)","award":["TIN2016-75344-R"],"award-info":[{"award-number":["TIN2016-75344-R"]}]},{"name":"Catalan Agency for University and Research (AGAUR)","award":["2021SGR00383"],"award-info":[{"award-number":["2021SGR00383"]}]},{"name":"ICREA Academia Program"},{"name":"FPI-UPC 2020"}],"content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":[],"published-print":{"date-parts":[[2025,6,21]]},"DOI":"10.1145\/3695053.3731075","type":"proceedings-article","created":{"date-parts":[[2025,6,20]],"date-time":"2025-06-20T16:46:17Z","timestamp":1750437977000},"page":"1079-1092","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":0,"title":["Caravan: A Hardware\/Software Co-Design for Efficient SIMD Neighbor Search on Point Clouds"],"prefix":"10.1145","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-5947-1913","authenticated-orcid":false,"given":"Pedro Henrique","family":"Exenberger Becker","sequence":"first","affiliation":[{"name":"Polytechnic University of Catalonia, Barcelona, Spain"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1134-9908","authenticated-orcid":false,"given":"Franyell","family":"Silfa","sequence":"additional","affiliation":[{"name":"Polytechnic University of Catalonia, Barcelona, Spain"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0336-9191","authenticated-orcid":false,"given":"Jose Maria","family":"Arnau","sequence":"additional","affiliation":[{"name":"Polytechnic University of Catalonia, Barcelona, Spain"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0009-0996","authenticated-orcid":false,"given":"Antonio","family":"Gonzalez","sequence":"additional","affiliation":[{"name":"Polytechnic University of Catalonia, Barcelona, Spain"}]}],"member":"320","published-online":{"date-parts":[[2025,6,20]]},"reference":[{"key":"e_1_3_3_2_2_2","unstructured":"AnandTech. [n. d.]. Apple Announces M1 Pro & M1 Max: Giant New Arm SoCs with All-Out Performance. https:\/\/www.anandtech.com\/show\/17019\/apple-announced-m1-pro-m1-max-giant-new-socs-with-allout-performance"},{"key":"e_1_3_3_2_3_2","unstructured":"Fabien Andr\u00e9. 2017. Exploiting Modern Hardware for High-Dimensional Nearest Neighbor Search. Ph.\u00a0D. Dissertation. INSA Rennes. arxiv:https:\/\/arXiv.org\/abs\/1712.02912http:\/\/arxiv.org\/abs\/1712.02912"},{"key":"e_1_3_3_2_4_2","unstructured":"ApolloAuto\/Apollo. 2021. An open autonomous driving platform. https:\/\/github.com\/ApolloAuto\/apollo"},{"key":"e_1_3_3_2_5_2","unstructured":"Apple. 2024. Apple Vision Pro - Technical Specifications. https:\/\/www.apple.com\/apple-vision-pro\/specs\/"},{"key":"e_1_3_3_2_6_2","unstructured":"Autoware. 2023. Autoware.AI \u00b7 GitHub. https:\/\/github.com\/autowarefoundation\/autoware_ai"},{"key":"e_1_3_3_2_7_2","doi-asserted-by":"publisher","DOI":"10.1109\/HOTCHIPS.2019.8875645"},{"key":"e_1_3_3_2_8_2","doi-asserted-by":"publisher","unstructured":"Jon\u00a0Louis Bentley. 1975. Multidimensional binary search trees used for associative searching. Commun. ACM 18 9 (sep 1975) 509\u2013517. 10.1145\/361002.361007","DOI":"10.1145\/361002.361007"},{"key":"e_1_3_3_2_9_2","doi-asserted-by":"publisher","DOI":"10.1117\/12.57955"},{"key":"e_1_3_3_2_10_2","doi-asserted-by":"publisher","DOI":"10.1109\/iros.2003.1249285"},{"key":"e_1_3_3_2_11_2","doi-asserted-by":"publisher","DOI":"10.1109\/HPCA56546.2023.10070940"},{"key":"e_1_3_3_2_12_2","first-page":"1","volume-title":"Arm Custom Instructions: Enabling Innovation and Greater Flexibility on Arm","author":"Choquin Lauranne","year":"2020","unstructured":"Lauranne Choquin and Staff\u00a0Information Developer. 2020. Arm Custom Instructions: Enabling Innovation and Greater Flexibility on Arm. Technical Report February. Arm. 1\u20138 pages. https:\/\/developer.arm.com\/documentation\/102891\/0100"},{"key":"e_1_3_3_2_13_2","unstructured":"Design Compiler. [n. d.]. Design Compiler. https:\/\/www.synopsys.com\/implementation-and-signoff\/rtl-synthesis-test\/dc-ultra.html"},{"key":"e_1_3_3_2_14_2","doi-asserted-by":"publisher","DOI":"10.1109\/IISWC50251.2020.00028"},{"key":"e_1_3_3_2_15_2","doi-asserted-by":"publisher","DOI":"10.1145\/3579371.3589055"},{"key":"e_1_3_3_2_16_2","unstructured":"I Evangelou G Papaioannou K Vardis and A\u00a0A Vasilakis. 2021. Fast Radius Search Exploiting Ray-Tracing Frameworks. Journal of Computer Graphics Techniques Fast Radius Search using Bounding 10 1 (2021) 2021. http:\/\/jcgt.orghttp\/\/jcgt.org"},{"key":"e_1_3_3_2_17_2","doi-asserted-by":"publisher","unstructured":"Michael Farrar. 2007. Striped Smith-Waterman speeds database searches six times over other SIMD implementations. Bioinformatics 23 2 (2007) 156\u2013161. 10.1093\/bioinformatics\/btl582","DOI":"10.1093\/bioinformatics\/btl582"},{"key":"e_1_3_3_2_18_2","doi-asserted-by":"publisher","DOI":"10.1145\/3470496.3527395"},{"key":"e_1_3_3_2_19_2","doi-asserted-by":"publisher","DOI":"10.1109\/MICRO50266.2020.00087"},{"key":"e_1_3_3_2_20_2","doi-asserted-by":"publisher","unstructured":"Jerome\u00a0H Friedman Jon\u00a0Louis Bentley and Raphael\u00a0Ari Finkel. 1977. An Algorithm for Finding Best Matches in Logarithmic Expected Time. ACM Trans. Math. Software 3 3 (sep 1977) 209\u2013226. 10.1145\/355744.355745","DOI":"10.1145\/355744.355745"},{"key":"e_1_3_3_2_21_2","unstructured":"Andreas Geiger Philip Lenz and Raquel Urtasun. [n. d.]. The KITTI Vision Benchmark Suite - Visual Odometry \/ SLAM Evaluation 2012. https:\/\/www.cvlibs.net\/datasets\/kitti\/eval_odometry.php"},{"key":"e_1_3_3_2_22_2","doi-asserted-by":"publisher","unstructured":"Andreas Geiger Philip Lenz and Raquel Urtasun. 2012. Are we ready for autonomous driving? the KITTI vision benchmark suite. Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition (2012) 3354\u20133361. 10.1109\/CVPR.2012.6248074","DOI":"10.1109\/CVPR.2012.6248074"},{"key":"e_1_3_3_2_23_2","unstructured":"Andreas Geiger Philip Lenz and Raquel Urtasun. 2017. The KITTI Vision Benchmark Suite - 3D Object Detection Evaluation 2017. https:\/\/www.cvlibs.net\/datasets\/kitti\/eval_object.php?obj_benchmark=3d"},{"key":"e_1_3_3_2_24_2","unstructured":"Amos Goldman. 2018. SIMD K-nearest-neighbors implementation."},{"key":"e_1_3_3_2_25_2","doi-asserted-by":"publisher","DOI":"10.1109\/MICRO50266.2020.00070"},{"key":"e_1_3_3_2_26_2","doi-asserted-by":"publisher","DOI":"10.1109\/ISPASS.2011.5762730"},{"key":"e_1_3_3_2_27_2","doi-asserted-by":"publisher","DOI":"10.1109\/ISCA59077.2024.00095"},{"key":"e_1_3_3_2_28_2","first-page":"21","volume-title":"Proceedings of the SIGGRAPH\/Eurographics Workshop on Graphics Hardware","author":"Heinzle Simon","year":"2008","unstructured":"Simon Heinzle, Ga\u00ebl Guennebaud, Mario Botsch, and Markus Gross. 2008. A hardware processing unit for point sets. In Proceedings of the SIGGRAPH\/Eurographics Workshop on Graphics Hardware. 21\u201331."},{"key":"e_1_3_3_2_29_2","unstructured":"Intel. 2023. Intel\u00ae Intrinsics Guide. https:\/\/www.intel.com\/content\/www\/us\/en\/docs\/intrinsics-guide\/index.html"},{"key":"e_1_3_3_2_30_2","unstructured":"Intel Corp.2023. Intel Xeon W2155 Processor 13.75M Cache 3.30 GHz Product Specifications. https:\/\/ark.intel.com\/content\/www\/us\/en\/ark\/products\/125042\/intel-xeon-w-2155-processor-13-75m-cache-3-30-ghz.html"},{"key":"e_1_3_3_2_31_2","unstructured":"Tier IV. [n. d.]. Autoware Data. https:\/\/data.tier4.jp\/"},{"key":"e_1_3_3_2_32_2","doi-asserted-by":"publisher","DOI":"10.1109\/HPCA56546.2023.10071058"},{"key":"e_1_3_3_2_33_2","doi-asserted-by":"publisher","unstructured":"Shinpei Kato Eijiro Takeuchi Yoshio Ishiguro Yoshiki Ninomiya Kazuya Takeda and Tsuyoshi Hamada. 2015. An open approach to autonomous vehicles. IEEE Micro 35 6 (2015) 60\u201368. 10.1109\/MM.2015.133","DOI":"10.1109\/MM.2015.133"},{"key":"e_1_3_3_2_34_2","doi-asserted-by":"publisher","unstructured":"Shinpei Kato Shota Tokunaga Yuya Maruyama Seiya Maeda Manato Hirabayashi Yuki Kitsukawa Abraham Monrroy Tomohito Ando Yusuke Fujii and Takuya Azumi. 2018. Autoware on Board: Enabling Autonomous Vehicles with Embedded Systems. Proceedings - 9th ACM\/IEEE International Conference on Cyber-Physical Systems ICCPS 2018April (2018) 287\u2013296. 10.1109\/ICCPS.2018.00035","DOI":"10.1109\/ICCPS.2018.00035"},{"key":"e_1_3_3_2_35_2","doi-asserted-by":"publisher","unstructured":"Ali Khajeh-Saeed Stephen Poole and J. Blair Perot. 2010. Acceleration of the Smith-Waterman algorithm using single and multiple graphics processors. J. Comput. Phys. 229 11 (2010) 4247\u20134258. 10.1016\/j.jcp.2010.02.009","DOI":"10.1016\/j.jcp.2010.02.009"},{"key":"e_1_3_3_2_36_2","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2008.4543832"},{"key":"e_1_3_3_2_37_2","doi-asserted-by":"publisher","DOI":"10.5555\/280635"},{"key":"e_1_3_3_2_38_2","doi-asserted-by":"publisher","unstructured":"Chengcai Leng Hai Zhang Bo Li Guorong Cai Zhao Pei and Li He. 2019. Local Feature Descriptor for Image Matching: A Survey. IEEE Access 7 (2019) 6424\u20136434. 10.1109\/ACCESS.2018.2888856","DOI":"10.1109\/ACCESS.2018.2888856"},{"key":"e_1_3_3_2_39_2","doi-asserted-by":"publisher","unstructured":"You Li and Javier Ibanez-Guzman. 2020. Lidar for Autonomous Driving: The Principles Challenges and Trends for Automotive Lidar and Perception Systems. IEEE Signal Processing Magazine 37 4 (jul 2020) 50\u201361. 10.1109\/MSP.2020.2973615 arxiv:https:\/\/arXiv.org\/abs\/2004.08467","DOI":"10.1109\/MSP.2020.2973615"},{"key":"e_1_3_3_2_40_2","unstructured":"Point\u00a0Cloud Library. 2020. Point Cloud Library | The Point Cloud Library (PCL) is a standalone large scale open project for 2D\/3D image and point cloud processing.https:\/\/pointclouds.org\/"},{"key":"e_1_3_3_2_41_2","doi-asserted-by":"publisher","unstructured":"Shih\u00a0Chieh Lin Yunqi Zhang Chang\u00a0Hong Hsu Matt Skach Md\u00a0E. Haque Lingjia Tang and Jason Mars. 2018. The architectural implications of autonomous driving: Constraints and acceleration. ACM SIGPLAN Notices 53 2 (2018) 751\u2013766. 10.1145\/3173162.3173191","DOI":"10.1145\/3173162.3173191"},{"key":"e_1_3_3_2_42_2","doi-asserted-by":"publisher","DOI":"10.1145\/3466752.3480084"},{"key":"e_1_3_3_2_43_2","doi-asserted-by":"publisher","unstructured":"Liangkai Liu Sidi Lu Ren Zhong Baofu Wu Yongtao Yao Qingyang Zhang and Weisong Shi. 2021. Computing Systems for Autonomous Driving: State of the Art and Challenges. IEEE Internet of Things Journal 8 8 (apr 2021) 6469\u20136486. 10.1109\/JIOT.2020.3043716 arxiv:https:\/\/arXiv.org\/abs\/2009.14349v3","DOI":"10.1109\/JIOT.2020.3043716"},{"key":"e_1_3_3_2_44_2","doi-asserted-by":"publisher","unstructured":"Jiayi Ma Xingyu Jiang Aoxiang Fan Junjun Jiang and Junchi Yan. 2021. Image Matching from Handcrafted to Deep Features: A Survey. International Journal of Computer Vision 129 1 (jan 2021) 23\u201379. 10.1007\/s11263-020-01359-2","DOI":"10.1007\/s11263-020-01359-2"},{"key":"e_1_3_3_2_45_2","volume-title":"The Three-Dimensional Normal-Distributions Transform \u2014 an Efficient Representation for Registration, Surface Analysis, and Loop Detection","author":"Magnusson Martin","year":"2008","unstructured":"Martin Magnusson. 2008. The Three-Dimensional Normal-Distributions Transform \u2014 an Efficient Representation for Registration, Surface Analysis, and Loop Detection. Vol.\u00a010. \u00d6rebro universitet, \u00d6rebro. 3 pages. http:\/\/www.aass.oru.se\/Research\/Learning\/publications\/2009\/Magnusson_2009-Doctoral_Thesis-3D_NDT.pdf"},{"key":"e_1_3_3_2_46_2","unstructured":"Marius Muja and David Lowe. 2013. FLANN - Fast Library for Approximate Nearest Neighbors User Manual. http:\/\/www.cs.ubc.ca\/research\/flann\/"},{"key":"e_1_3_3_2_47_2","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4842-7185-8"},{"key":"e_1_3_3_2_48_2","volume-title":"Small Systems Simulation Symposium","author":"Melikyan Vazgen","year":"2018","unstructured":"Vazgen Melikyan, Meruzhan Martirosyan, Anush Melikyan, and Gor Piliposyan. 2018. 14nm educational design kit: Capabilities deployment and future. In Small Systems Simulation Symposium."},{"key":"e_1_3_3_2_49_2","unstructured":"Meta. 2024. Learn about point clouds with Meta Quest. https:\/\/www.meta.com\/en-us\/help\/quest\/articles\/in-vr-experiences\/oculus-features\/point-cloud\/"},{"key":"e_1_3_3_2_50_2","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-031-22170-5"},{"key":"e_1_3_3_2_51_2","unstructured":"Marius Muja and David Lowe. 2021. FLANN - Fast Library for Approximate Nearest Neighbors. https:\/\/github.com\/tkircher\/flann"},{"key":"e_1_3_3_2_52_2","doi-asserted-by":"publisher","DOI":"10.5220\/0001787803310340"},{"key":"e_1_3_3_2_53_2","unstructured":"Gabriele Paoloni. 2010. How to Benchmark Code Execution Times on Intel \u00ae IA-32 and IA-64 Instruction Set Architectures. Intel ManualSeptember (2010) 1\u201337."},{"key":"e_1_3_3_2_54_2","doi-asserted-by":"publisher","unstructured":"Salvatore Pennisi. 2022. The Integrated Circuit Industry at a Crossroads: Threats and Opportunities. Chips 1 3 (oct 2022) 150\u2013171. 10.3390\/chips1030010","DOI":"10.3390\/chips1030010"},{"key":"e_1_3_3_2_55_2","doi-asserted-by":"publisher","DOI":"10.1016\/C2013-0-15557-2"},{"key":"e_1_3_3_2_56_2","doi-asserted-by":"publisher","DOI":"10.1109\/HPCA47549.2020.00024"},{"key":"e_1_3_3_2_57_2","first-page":"5100","volume-title":"Advances in Neural Information Processing Systems","author":"Qi Charles\u00a0R.","year":"2017","unstructured":"Charles\u00a0R. Qi, Li Yi, Hao Su, and Leonidas\u00a0J. Guibas. 2017. PointNet++: Deep hierarchical feature learning on point sets in a metric space. In Advances in Neural Information Processing Systems, Vol.\u00a02017-Decem. 5100\u20135109. arxiv:https:\/\/arXiv.org\/abs\/1706.02413"},{"key":"e_1_3_3_2_58_2","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2011.6126544"},{"key":"e_1_3_3_2_59_2","doi-asserted-by":"publisher","unstructured":"Radu\u00a0Bogdan Rusu. 2010. Semantic 3D Object Maps for Everyday Manipulation in Human Living Environments. KI - Kunstliche Intelligenz 24 4 (2010) 345\u2013348. 10.1007\/s13218-010-0059-6","DOI":"10.1007\/s13218-010-0059-6"},{"key":"e_1_3_3_2_60_2","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2011.5980567"},{"key":"e_1_3_3_2_61_2","doi-asserted-by":"publisher","unstructured":"T.F. Smith and M.S. Waterman. 1981. Identification of common molecular subsequences. Journal of Molecular Biology 147 1 (mar 1981) 195\u2013197. 10.1016\/0022-2836(81)90087-5","DOI":"10.1016\/0022-2836(81)90087-5"},{"key":"e_1_3_3_2_62_2","doi-asserted-by":"publisher","DOI":"10.23919\/DATE56975.2023.10137301"},{"key":"e_1_3_3_2_63_2","doi-asserted-by":"publisher","unstructured":"Nigel Stephens Stuart Biles Matthias Boettcher Jacob Eapen Mbou Eyole Giacomo Gabrielli Matt Horsnell Grigorios Magklis Alejandro Martinez Nathanael Premillieu Alastair Reid Alejandro Rico and Paul Walker. 2017. The ARM Scalable Vector Extension. IEEE Micro 37 2 (mar 2017) 26\u201339. 10.1109\/MM.2017.35 arxiv:https:\/\/arXiv.org\/abs\/1803.06185v1","DOI":"10.1109\/MM.2017.35"},{"key":"e_1_3_3_2_64_2","unstructured":"Velodyne Lidar Inc.[n. d.]. HDL-64E User\u2019s Manual."},{"key":"e_1_3_3_2_65_2","doi-asserted-by":"publisher","unstructured":"Ingo Wald Sven Woop Carsten Benthin Gregory\u00a0S. Johnson and Manfred Ernst. 2014. Embree: a kernel framework for efficient CPU ray tracing. ACM Transactions on Graphics 33 4 (jul 2014) 1\u20138. 10.1145\/2601097.2601199","DOI":"10.1145\/2601097.2601199"},{"key":"e_1_3_3_2_66_2","unstructured":"Yige Wang. 2019. Putting the brain in driverless vehicles with MDC. Huawei Communicate 1 86 (2019) 42\u201345. https:\/\/www.huawei.com\/uk\/about-huawei\/publications\/communicate\/86\/driverless-vehicles-with-mdc"},{"key":"e_1_3_3_2_67_2","unstructured":"Andrew Waterman and Krste Asanovic. 2017. The RISC-V Instruction Set Manual. RISC-V Foundation I (2017). https:\/\/riscv.org\/technical\/specifications\/"},{"key":"e_1_3_3_2_68_2","unstructured":"Stephen Williams. 2008. Icarus Verilog. 2005\u00a0pages. http:\/\/iverilog.icarus.comhttp:\/\/sourceforge.net\/projects\/iverilog\/"},{"key":"e_1_3_3_2_69_2","doi-asserted-by":"publisher","DOI":"10.1145\/3352460.3358259"},{"key":"e_1_3_3_2_70_2","doi-asserted-by":"publisher","DOI":"10.1145\/3579371.3589113"},{"key":"e_1_3_3_2_71_2","doi-asserted-by":"publisher","DOI":"10.1109\/MICRO56248.2022.00031"},{"key":"e_1_3_3_2_72_2","doi-asserted-by":"publisher","DOI":"10.1109\/MICRO50266.2020.00089"},{"key":"e_1_3_3_2_73_2","doi-asserted-by":"publisher","unstructured":"Ekim Yurtsever Jacob Lambert Alexander Carballo and Kazuya Takeda. 2020. A Survey of Autonomous Driving: Common Practices and Emerging Technologies. IEEE Access 8 (2020) 58443\u201358469. 10.1109\/ACCESS.2020.2983149 arxiv:https:\/\/arXiv.org\/abs\/1906.05113","DOI":"10.1109\/ACCESS.2020.2983149"},{"key":"e_1_3_3_2_74_2","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2017.7989591"},{"key":"e_1_3_3_2_75_2","doi-asserted-by":"publisher","DOI":"10.1117\/12.2540277"},{"key":"e_1_3_3_2_76_2","doi-asserted-by":"publisher","DOI":"10.1109\/ICCD50377.2020.00031"},{"key":"e_1_3_3_2_77_2","doi-asserted-by":"publisher","DOI":"10.1145\/3503221.3508409"}],"event":{"name":"ISCA '25: Proceedings of the 52nd Annual International Symposium on Computer Architecture","sponsor":["SIGARCH ACM Special Interest Group on Computer Architecture"],"location":"Tokyo Japan","acronym":"SIGARCH '25"},"container-title":["Proceedings of the 52nd Annual International Symposium on Computer Architecture"],"original-title":[],"link":[{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/3695053.3731075","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,21]],"date-time":"2025-06-21T11:05:41Z","timestamp":1750503941000},"score":1,"resource":{"primary":{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3695053.3731075"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,6,20]]},"references-count":76,"alternative-id":["10.1145\/3695053.3731075","10.1145\/3695053"],"URL":"https:\/\/doi.org\/10.1145\/3695053.3731075","relation":{},"subject":[],"published":{"date-parts":[[2025,6,20]]},"assertion":[{"value":"2025-06-20","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}