ARKCoS: Artifact-Suppressed Accelerated Radial Kernel Convolution on the Sphere

We describe a hybrid Fourier/direct space convolution algorithm for compact radial (azimuthally symmetric) kernels on the sphere. For high resolution maps covering a large fraction of the sky, our implementation takes advantage of the inexpensive massive parallelism afforded by consumer graphics processing units (GPUs). Applications involve modeling of instrumental beam shapes in terms of compact kernels, computation of fine-scale wavelet transformations, and optimal filtering for the detection of point sources. Our algorithm works for any pixelization where pixels are grouped into isolatitude rings. Even for kernels that are not bandwidth limited, ringing features are completely absent on an ECP grid. We demonstrate that they can be highly suppressed on the popular HEALPix pixelization, for which we develop a freely available implementation of the algorithm. As an example application, we show that running on a high-end consumer graphics card our method speeds up beam convolution for simulations of a characteristic Planck high frequency instrument channel by two orders of magnitude compared to the commonly used HEALPix implementation on one CPU core while maintaining at typical a fractional RMS accuracy of about 1 part in 10^5.Comment: 10 pages, 6 figures. Submitted to Astronomy and Astrophysics. Replaced to match published version. Code can be downloaded at https://github.com/elsner/arkco

Using hybrid GPU/CPU kernel splitting to accelerate spherical convolutions

We present a general method for accelerating by more than an order of magnitude the convolution of pixelated functions on the sphere with a radially-symmetric kernel. Our method splits the kernel into a compact real-space component and a compact spherical harmonic space component. These components can then be convolved in parallel using an inexpensive commodity GPU and a CPU. We provide models for the computational cost of both real-space and Fourier space convolutions and an estimate for the approximation error. Using these models we can determine the optimum split that minimizes the wall clock time for the convolution while satisfying the desired error bounds. We apply this technique to the problem of simulating a cosmic microwave background (CMB) anisotropy sky map at the resolution typical of the high resolution maps produced by the Planck mission. For the main Planck CMB science channels we achieve a speedup of over a factor of ten, assuming an acceptable fractional rms error of order 1.e-5 in the power spectrum of the output map.Comment: 9 pages, 11 figures, 1 table, accepted by Astronomy & Computing w/ minor revisions. arXiv admin note: substantial text overlap with arXiv:1211.355

Spherical harmonic transform with GPUs

We describe an algorithm for computing an inverse spherical harmonic transform suitable for graphic processing units (GPU). We use CUDA and base our implementation on a Fortran90 routine included in a publicly available parallel package, S2HAT. We focus our attention on the two major sequential steps involved in the transforms computation, retaining the efficient parallel framework of the original code. We detail optimization techniques used to enhance the performance of the CUDA-based code and contrast them with those implemented in the Fortran90 version. We also present performance comparisons of a single CPU plus GPU unit with the S2HAT code running on either a single or 4 processors. In particular we find that use of the latest generation of GPUs, such as NVIDIA GF100 (Fermi), can accelerate the spherical harmonic transforms by as much as 18 times with respect to S2HAT executed on one core, and by as much as 5.5 with respect to S2HAT on 4 cores, with the overall performance being limited by the Fast Fourier transforms. The work presented here has been performed in the context of the Cosmic Microwave Background simulations and analysis. However, we expect that the developed software will be of more general interest and applicability

Efficient Spherical Harmonic Transforms aimed at pseudo-spectral numerical simulations

In this paper, we report on very efficient algorithms for the spherical harmonic transform (SHT). Explicitly vectorized variations of the algorithm based on the Gauss-Legendre quadrature are discussed and implemented in the SHTns library which includes scalar and vector transforms. The main breakthrough is to achieve very efficient on-the-fly computations of the Legendre associated functions, even for very high resolutions, by taking advantage of the specific properties of the SHT and the advanced capabilities of current and future computers. This allows us to simultaneously and significantly reduce memory usage and computation time of the SHT. We measure the performance and accuracy of our algorithms. Even though the complexity of the algorithms implemented in SHTns are in $O(N^3)$ (where N is the maximum harmonic degree of the transform), they perform much better than any third party implementation, including lower complexity algorithms, even for truncations as high as N=1023. SHTns is available at https://bitbucket.org/nschaeff/shtns as open source software.Comment: 8 page

Parallel Spherical Harmonic Transforms on heterogeneous architectures (GPUs/multi-core CPUs)

Spherical Harmonic Transforms (SHT) are at the heart of many scientific and practical applications ranging from climate modelling to cosmological observations. In many of these areas new, cutting-edge science goals have been recently proposed requiring simulations and analyses of experimental or observational data at very high resolutions and of unprecedented volumes. Both these aspects pose formidable challenge for the currently existing implementations of the transforms. This paper describes parallel algorithms for computing SHT with two variants of intra-node parallelism appropriate for novel supercomputer architectures, multi-core processors and Graphic Processing Units (GPU). It also discusses their performance, alone and embedded within a top-level, MPI-based parallelisation layer ported from the S2HAT library, in terms of their accuracy, overall efficiency and scalability. We show that our inverse SHT run on GeForce 400 Series GPUs equipped with latest CUDA architecture ("Fermi") outperforms the state of the art implementation for a multi-core processor executed on a current Intel Core i7-2600K. Furthermore, we show that an MPI/CUDA version of the inverse transform run on a cluster of 128 Nvidia Tesla S1070 is as much as 3 times faster than the hybrid MPI/OpenMP version executed on the same number of quad-core processors Intel Nahalem for problem sizes motivated by our target applications. Performance of the direct transforms is however found to be at the best comparable in these cases. We discuss in detail the algorithmic solutions devised for major steps involved in the transforms calculation, emphasising those with a major impact on their overall performance, and elucidates the sources of the dichotomy between the direct and the inverse operations

Spherical Fourier Neural Operators: Learning Stable Dynamics on the Sphere

Fourier Neural Operators (FNOs) have proven to be an efficient and effective method for resolution-independent operator learning in a broad variety of application areas across scientific machine learning. A key reason for their success is their ability to accurately model long-range dependencies in spatio-temporal data by learning global convolutions in a computationally efficient manner. To this end, FNOs rely on the discrete Fourier transform (DFT), however, DFTs cause visual and spectral artifacts as well as pronounced dissipation when learning operators in spherical coordinates since they incorrectly assume a flat geometry. To overcome this limitation, we generalize FNOs on the sphere, introducing Spherical FNOs (SFNOs) for learning operators on spherical geometries. We apply SFNOs to forecasting atmospheric dynamics, and demonstrate stable auto\-regressive rollouts for a year of simulated time (1,460 steps), while retaining physically plausible dynamics. The SFNO has important implications for machine learning-based simulation of climate dynamics that could eventually help accelerate our response to climate change

Robust Object Classification Approach using Spherical Harmonics

Point clouds produced by either 3D scanners or multi-view images are often imperfect and contain noise or outliers. This paper presents an end-to-end robust spherical harmonics approach to classifying 3D objects. The proposed framework first uses the voxel grid of concentric spheres to learn features over the unit ball. We then limit the spherical harmonics order level to suppress the effect of noise and outliers. In addition, the entire classification operation is performed in the Fourier domain. As a result, our proposed model learned features that are less sensitive to data perturbations and corruptions. We tested our proposed model against several types of data perturbations and corruptions, such as noise and outliers. Our results show that the proposed model has fewer parameters, competes with state-of-art networks in terms of robustness to data inaccuracies, and is faster than other robust methods. Our implementation code is also publicly available1

Scalable and equivariant spherical CNNs by discrete-continuous (DISCO) convolutions

No existing spherical convolutional neural network (CNN) framework is both computationally scalable and rotationally equivariant. Continuous approaches capture rotational equivariance but are often prohibitively computationally demanding. Discrete approaches offer more favorable computational performance but at the cost of equivariance. We develop a hybrid discrete-continuous (DISCO) group convolution that is simultaneously equivariant and computationally scalable to high-resolution. While our framework can be applied to any compact group, we specialize to the sphere. Our DISCO spherical convolutions exhibit SO(3) rotational equivariance, where SO(n) is the special orthogonal group representing rotations in n-dimensions. When restricting rotations of the convolution to the quotient space SO(3)/SO(2) for further computational enhancements, we recover a form of asymptotic SO(3) rotational equivariance. Through a sparse tensor implementation we achieve linear scaling in number of pixels on the sphere for both computational cost and memory usage. For 4k spherical images we realize a saving of 109 in computational cost and 104 in memory usage when compared to the most efficient alternative equivariant spherical convolution. We apply the DISCO spherical CNN framework to a number of benchmark dense-prediction problems on the sphere, such as semantic segmentation and depth estimation, on all of which we achieve the state-of-the-art performance