AutoInst: Automatic Instance-Based Segmentation of LiDAR 3D Scans

arXiv:2403.16318v1 Announce Type: new
Abstract: Recently, progress in acquisition equipment such as LiDAR sensors has enabled sensing increasingly spacious outdoor 3D environments. Making sense of such 3D acquisitions requires fine-grained scene understanding, such as constructing instance-based 3D scene segmentations. Commonly, a neural network is trained for this task; however, this requires access to a large, densely annotated dataset, which is widely known to be challenging to obtain. To address this issue, in this work we propose to predict instance segmentations …

arxiv cs.cv instance lidar scans segmentation type