Minkowski Engine Benchmark
MinkUNet34 (42 conv layers)
Time to process a sparse tensor
Number of Non-zero Elements (NNZ)
CPU (E5)
V100
A100
161890
9.189684867858887
0.1606714725494384
0.0800826549530029
323780
22.11437630653381
0.2796809673309326
0.1274714469909668
647560
48.82245087623596
0.5429468154907227
0.2160387039184570
971340
79.74007511138916
0.8115856647491455
0.3341245651245117
1295120
107.2188804149627
1.0402274131774902
0.4301359653472900
1618900
137.5616581439972
1.3221232891082764
0.5263621807098389
1942680
167.6317486763000
1.578477144241333
0.624725341796875
2266460
196.8181667327881
1.8281619548797607
0.7229833602905273
2590240
227.5360894203186
2.0409200191497803
0.8182036876678467
3237800
290.2604696750641
2.6243700981140137
1.0436716079711914
Number of Non-zero Elements (NNZ)
V100
A100
161890
57.19549788174895
114.75250006698
323780
79.07000793646057
173.48493979283
647560
89.92123995074834
225.98937130572
971340
98.25219761124805
238.65373406972
1295120
103.0725388090386
249.26741554474
1618900
104.0460139211203
261.34411472816
1942680
106.1984009637777
268.32871577475
2266460
107.6590431211183
272.23056233783
2590240
111.4870192292528
278.09223161639
3237800
110.6019573548936
278.11475128590
MinkUNet14 (25 conv layers)
Ryzen 3700X + Titan RTX
v0.5b
speed up
v0.4.3
Number of Non-zero Elements (Points)
Time
x
Time
161890
0.09865355492
3.906438882
0.3853840828
323780
0.201720953
4.181743076
0.8435451984
647560
0.3909289837
4.733338619
1.850399256
971340
0.6050679684
4.824337556
2.919052124
1295120
0.8053011894
5.007231003
4.032329082
1618900
1.009372473
5.070545621
5.118069172
1942680
1.211565018
5.053071509
6.122124672
Ryzen 3700X + Titan RTX ITX
v0.5c
speed up
v0.5b
Number of Non-zero Elements (Points)
Time
x
Time
161890
0.118088483
1.301948924
0.1537451744079589
323780
0.224587202
1.420111955
0.3189389705657959
647560
0.429016828
1.448982926
0.6216380596160889
971340
0.675571441
1.431851259
0.9673178195953369
1295120
0.895347356
1.433548963
1.2835242748260498
1618900
1.114722967
1.443795053
1.609431505203247
1942680
1.339769125
1.448891065
1.9411795139312744
Fully Convolutional Geometric Features FCGF (21 conv layers)
ResUNetBN2C on Ryzen 3700X + Titan RTX
v0.5b
speed up
v0.4.3
Number of Non-zero Elements (Points)
Time
x
Time
5322
0.014988899
2.631752243
0.0394470691
10644
0.016107559
4.11098283
0.0662178993
21288
0.022331714
5.615388722
0.1254012585
42576
0.035487651
6.560935463
0.2328321934
85152
0.062259197
7.109369136
0.4426236153
170304
0.113505363
7.534897789
0.8552513123
340608
0.224957943
7.712351967
1.734954834
ResUNetBN2C on Ryzen 3700X + Titan RTX ITX
v0.5c
speed up
v0.5b
Number of Non-zero Elements (Points)
Time
x
Time
5322
0.0139970779
1.015772975
0.0142178535
10644
0.0171124935
1.005572968
0.0172078609
21288
0.0207984447
1.046483632
0.0217652320
42576
0.0319116115
1.075287453
0.0343141555
85152
0.0537533760
1.117707066
0.0600805282
170304
0.0964894294
1.139130628
0.1099140644
340608
0.1927807331
1.144459244
0.2206296920