Mask-Based Panoptic LiDAR Segmentation for Autonomous Driving

• Published in: IEEE robotics and automation letters Vol. 8; no. 2; pp. 1141 - 1148
• Main Authors: Marcuzzi, Rodrigo, Nunes, Lucas, Wiesmann, Louis, Behley, Jens, Stachniss, Cyrill
• Format: Journal Article
• Language: English
• Published: Piscataway IEEE 01.02.2023; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Clustering; Decoding; Deep learning methods; Feature extraction; Heuristic methods; Instance segmentation; Laser radar; Lidar; Point cloud compression; semantic scene understanding; Semantics; Three-dimensional displays; Transformers

Autonomous vehicles need to understand their surroundings geometrically and semantically to plan and act appropriately in the real world. Panoptic segmentation of LiDAR scans provides a description of the surroundings by unifying semantic and instance segmentation. It is usually solved in a bottom-u...