PICK: An SRAM-based Processing-in-Memory Accelerator for K-Nearest-Neighbor Search in Point Clouds

K-nearest neighbor (kNN) search is a fundamental operation in various point cloud applications, such as autonomous driving. However, the heavy computational intensity and memory demands of kNN search pose significant challenges for efficient implementation, especially in resource-constrained scenarios. To address these challenges, we propose PICK, a processing-in-memory (PIM) architecture designed to accelerate kNN search in point cloud applications. PICK leverages bit-serial-based PIM (BS-PIM) and customized circuits to efficiently handle key operations of kNN search: distance calculation and top-k selection. The run-time off-chip access is eliminated thanks to the large on-chip memory. For distance calculation, we introduce a bit-width clipping technique to reduce the latency of bit-serial execution with negligible accuracy degradation, providing flexible trade-offs between performance and precision. Besides, we propose a filtering-and-selection strategy that realizes approximately constant time complexity for arbitrary values of k. Furthermore, a two-stage pipeline is implemented to parallelize distance calculation and top-k search, effectively hiding latency and improving throughput. According to our experiments, PICK achieves $4.17 \times$ speedup and a $4.42 \times$ energy saving over the state-of-the-art design.