State-of-the-art methods for driving-scene LiDAR-based perception (including
point cloud semantic segmentation, panoptic segmentation and 3D detection,
\etc) often project the point clouds to 2D space and then process them via 2D
convolution. Although this cooperation shows the competitiveness in the point
cloud, it inevitably alters and abandons the 3D topology and geometric
relations. A natural remedy is to utilize the 3D voxelization and 3D
convolution network. However, we found that in the outdoor point cloud, the
improvement obtained in this way is quite limited. An important reason is the
property of the outdoor point cloud, namely sparsity and varying density.
Motivated by this investigation, we propose a new framework for the outdoor
LiDAR segmentation, where cylindrical partition and asymmetrical 3D convolution
networks are designed to explore the 3D geometric pattern while maintaining
these inherent properties. The proposed model acts as a backbone and the
learned features from this model can be used for downstream tasks such as point
cloud semantic and panoptic segmentation or 3D detection. In this paper, we
benchmark our model on these three tasks. For semantic segmentation, we
evaluate the proposed model on several large-scale datasets, \ie,
SemanticKITTI, nuScenes and A2D2. Our method achieves the state-of-the-art on
the leaderboard of SemanticKITTI (both single-scan and multi-scan challenge),
and significantly outperforms existing methods on nuScenes and A2D2 dataset.
Furthermore, the proposed 3D framework also shows strong performance and good
generalization on LiDAR panoptic segmentation and LiDAR 3D detection.

该论文提出了一种利用 3D 卷积网络进行 LiDAR 语义分割、全景分割和 3D 检测的新框架，其中采用了柱状分割和非对称 3D 卷积网络来探索 3D 几何模式，该模型在 SemanticKITTI，nuScenes 和 A2D2 上的结果均表现出最先进的性能并在分割和检测任务中显示出很好的泛化性能。

基于激光雷达感知的圆柱形和非对称 3D 卷积网络

Cylindrical and Asymmetrical 3D Convolution Networks for LiDAR-based  Perception

State-of-the-art methods for large-scale driving-scene LiDAR segmentation
often project the point clouds to 2D space and then process them via 2D
convolution. Although this corporation shows the competitiveness in the point
cloud, it inevitably alters and abandons the 3D topology and geometric
relations. A natural remedy is to utilize the3D voxelization and 3D convolution
network. However, we found that in the outdoor point cloud, the improvement
obtained in this way is quite limited. An important reason is the property of
the outdoor point cloud, namely sparsity and varying density. Motivated by this
investigation, we propose a new framework for the outdoor LiDAR segmentation,
where cylindrical partition and asymmetrical 3D convolution networks are
designed to explore the 3D geometric pat-tern while maintaining these inherent
properties. Moreover, a point-wise refinement module is introduced to alleviate
the interference of lossy voxel-based label encoding. We evaluate the proposed
model on two large-scale datasets, i.e., SemanticKITTI and nuScenes. Our method
achieves the 1st place in the leaderboard of SemanticKITTI and outperforms
existing methods on nuScenes with a noticeable margin, about 4%. Furthermore,
the proposed 3D framework also generalizes well to LiDAR panoptic segmentation
and LiDAR 3D detection.

该论文提出了一种新的框架，使用圆柱形分区和不对称 3D 卷积网络来探索 3D 几何模式，并引入点智能精炼模块以减轻损失体素标签编码的干扰；测试表明，该方法在 SemanticKITTI 和 nuScenes 数据集上超过现有方法，排名第一并且较现有方法提高了约 4％。