Voxel-MAE: Masked Autoencoders for Pre-training Large-scale Point Clouds. (arXiv:2206.09900v2 [cs.CV] UPDATED)

Mask-based pre-training has achieved great success for self-supervised
learning in image, video, and language, without manually annotated supervision.
However, it has not yet been studied about large-scale point clouds with
redundant spatial information in autonomous driving. As the number of
large-scale point clouds is huge, it is impossible to reconstruct the input
point clouds. In this paper, we propose a mask voxel classification network for
large-scale point clouds pre-training. Our key idea is to divide the point
clouds into voxel …

arxiv cv pre-training scale training voxel