Autoware.Auto Neural Networks Inference Architecture Design

[xmfcx]

I've been looking into how the Autoware.Auto was handling the neural networks with TVM and put together some diagrams explaining what's been done.

Here is the link to diagrams

Links to the packages:

• modelzoo: https://github.com/autowarefoundation/modelzoo/
• tvm_vendor: https://github.com/autowarefoundation/tvm_vendor
• neural_networks: https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/-/tree/master/src/common/neural_networks
• tvm_utility: https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/-/tree/master/src/common/tvm_utility
• apollo_lidar_segmentation: https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/-/tree/master/src/perception/segmentation/apollo_lidar_segmentation

Overview

Details

cc @ambroise-arm @LucaFos

[ambroise-arm]

Thanks for the diagrams!
Note that with the current Autoware.Auto implementation, the download step only happens in the neural_networks package. tvm_utility and apollo_lidar_segmentation simply use the files that were installed and exposed by neural_networks.