Research map / Point clouds / Segmentation and detection
Sparse Single Sweep LiDAR Point Cloud Segmentation via Learning Contextual Shape Priors from Scene Completion
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Measured effects reported in the paper
| What was changed | Where | Measured | Effect |
|---|---|---|---|
| train segmentation and scene completion jointly instead of separately (ablation) | SparseConv-based JS3C-Net · SemanticKITTI validation | SS: 63.1 -> 66.1 | Helped |
| train segmentation and scene completion jointly instead of separately (ablation) | SparseConv-based JS3C-Net · SemanticKITTI validation | SC: 51.1 -> 55.0 | Helped |
| use uncertainty-weighted multi-task loss instead of manually set task-loss weights (ablation) | joint SS and completion learning · SemanticKITTI validation | SS: 66.1 -> 66.4 | Helped |
| use uncertainty-weighted multi-task loss instead of manually set task-loss weights (ablation) | joint SS and completion learning · SemanticKITTI validation | SC: 55.0 -> 56.1 | Helped |
| add the PVI module for point-voxel knowledge fusion (ablation) | joint learning with UMTL · SemanticKITTI validation | SS: 66.4 -> 67.5 | Helped |
| add the PVI module for point-voxel knowledge fusion (ablation) | joint learning with UMTL · SemanticKITTI validation | SSC: 23.0 -> 24.0 | Helped |
| add the PVI module for point-voxel knowledge fusion (ablation) | joint learning with UMTL · SemanticKITTI validation | SC: 56.1 -> 57.0 | Helped |
| use future frames in addition to historical frames for completion supervision (ablation) | JS3C-Net · SemanticKITTI validation | mIoU: 66.6 -> 67.5 | Helped |
| use JS3C-Net completion-based contextual priors rather than SpSequenceNet historical-frame aggregation (ablation) | SparseConv segmentation · SemanticKITTI validation | mIoU: 64.3 -> 66.6 | Helped |
| exclude moving objects from completion supervision (ablation) | JS3C-Net · SemanticKITTI validation | mIoU: 67.5 -> 67.7 | Helped |
| exclude moving objects from completion supervision (ablation) | JS3C-Net · SemanticPOSS validation | mIoU: 60.2 -> 60.2 | No clear effect |
| replace semantic scene completion with scene completion for joint learning (ablation) | JS3C-Net · SemanticKITTI validation | SS: 63.1 -> 62.5 | Hurt |
Closest papers by meaning
- Less Is More: Reducing Task and Model Complexity for 3D Point Cloud Semantic Segmentation (CVPR 2023 · similarity 0.91)
- Cylindrical and Asymmetrical 3D Convolution Networks for LiDAR Segmentation (CVPR 2021 · similarity 0.90)
- Point-to-Voxel Knowledge Distillation for LiDAR Semantic Segmentation (CVPR 2022 · similarity 0.90)
- SDNet: LiDAR Semantic Scene Completion with Sparse-Dense Fusion and Input-Aware Label Refinement (AAAI 2026 · similarity 0.89)
- PolarNet: An Improved Grid Representation for Online LiDAR Point Clouds Semantic Segmentation (CVPR 2020 · similarity 0.89)
- PC-BEV: An Efficient Polar-Cartesian BEV Fusion Framework for LiDAR Semantic Segmentation (AAAI 2025 · similarity 0.87)
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