LidarMultiNet: Unifying LiDAR Semantic Segmentation, 3D Object Detection, and Panoptic Segmentation in a Single Multi-task Network. (arXiv:2206.11428v2 [cs.CV] UPDATED)

This technical report presents the 1st place winning solution for the Waymo
Open Dataset 3D semantic segmentation challenge 2022. Our network, termed
LidarMultiNet, unifies the major LiDAR perception tasks such as 3D semantic
segmentation, object detection, and panoptic segmentation in a single
framework. At the core of LidarMultiNet is a strong 3D voxel-based
encoder-decoder network with a novel Global Context Pooling (GCP) module
extracting global contextual features from a LiDAR frame to complement its
local features. An optional second stage …

3d arxiv cv detection lidar network segmentation semantic