MASS: Multi-Attentional Semantic Segmentation of LiDAR Data for Dense Top-View Understanding

@article{Peng2022MASSMS,
  title={MASS: Multi-Attentional Semantic Segmentation of LiDAR Data for Dense Top-View Understanding},
  author={Kunyu Peng and Juncong Fei and Kailun Yang and Alina Roitberg and Jiaming Zhang and Frank Bieder and Philipp Heidenreich and Christoph Stiller and Rainer Stiefelhagen},
  journal={ArXiv},
  year={2022},
  volume={abs/2107.00346}
}
At the heart of all automated driving systems is the ability to sense the surroundings, e.g., through semantic segmentation of LiDAR sequences, which experienced a remarkable progress due to the release of large datasets such as SemanticKITTI and nuScenes-LidarSeg. While most previous works focus on sparse segmentation of the LiDAR input, dense output masks provide self-driving cars with almost complete environment information. In this paper, we introduce MASS a Multi-Attentional Semantic… 
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