Rank 1st in the leaderboard of SemanticKITTI semantic segmentation (both single-scan and multi-scan) (Nov. 2020) (CVPR2021 Oral)

Point-to-Voxel Knowledge Distillation for LiDAR Semantic Segmentation (CVPR 2022)

[ICCV 2023] Robo3D: Towards Robust and Reliable 3D Perception against Corruptions

Sparse Single Sweep LiDAR Point Cloud Segmentation via Learning Contextual Shape Priors from Scene Completion (AAAI 2021)

This is a lidar segmentation method based on range image.

[IROS23] InsMOS: Instance-Aware Moving Object Segmentation in LiDAR Data

This repo is the official code for the paper SFPNet (ECCV 2024) and dataset S.MID.

LiDAR processing ROS2. Segmentation: "Fast Ground Segmentation for 3D LiDAR Point Cloud Based on Jump-Convolution-Process". Clustering: "Curved-Voxel Clustering for Accurate Segmentation of 3D LiDAR Point Clouds with Real-Time Performance".

A pipeline that integrates raw LiDAR point cloud and Camera to produce a semantically annotated point cloud

3D LiDAR Semantic Segmentation with range images and Retentive Networks