핵심 개념
LiDAR 시멘틱 세분화를 위한 새로운 샘플링 방법인 PCB-RS의 효과적인 성능 향상을 제안합니다.
초록
I. Abstract
Autonomous driving requires efficient LiDAR semantic segmentation.
Random Sampling may not be suitable due to uneven point distribution.
Proposed PCB-RS method balances point cloud distribution for better segmentation.
II. Introduction
LiDAR plays a crucial role in autonomous driving.
Existing methods categorized into Voxel-based, Projection-based, and Point-based.
Point-based methods show promise but struggle with large-scale point clouds.
III. Methodology
PCB-RS divides point cloud into cylindrical blocks for balanced sampling.
Sampling Consistency Loss introduced to improve model performance.
Experimental results on SemanticKITTI and SemanticPOSS show significant improvements.
IV. Experiments
PCB-RS method improves segmentation performance in different distance ranges.
Results on SemanticKITTI and SemanticPOSS datasets demonstrate the effectiveness of the proposed approach.
V. Ablation Study
PCB-RS shows robustness to resolution settings of polar cylinder representation.
Sampling Consistency Loss with uncertainty weighting method significantly improves model performance.
VI. Limitation and Future Work
Future work includes designing suitable operators for local feature extraction and aggregation under PCB-RS sampling.
VII. Conclusion
PCB-RS method and Sampling Consistency Loss enhance LiDAR semantic segmentation performance.
Experimental results validate the effectiveness of the proposed approach.
통계
Random Sampling은 M개의 점을 균등하게 선택합니다.
PCB-RS는 중간 및 먼 거리의 점을 잘 보존하여 성능을 향상시킵니다.
PCB-RS와 SCL은 모델의 성능을 일관되게 향상시킵니다.
인용구
"PCB-RS sampling method enables the sampled point clouds to maintain a more balanced distribution."
"Sampling Consistency Loss introduced to further improve the segmentation performance and reduce the model’s variance."