CPGNet: Cascade Point-Grid Fusion Network for Real-Time LiDAR Semantic Segmentation
2022 International Conference on Robotics and Automation (ICRA)（2022）
Key words
CPGNet,Cascade Point-Grid Fusion Network,real-time LiDAR semantic segmentation,advanced autonomous driving,previous point-based,sparse voxel-based methods,real-time applications,time-consuming neighbor,sparse 3D convolution,projection-based methods,range view,multiview fusion,test time augmentation,TTA,speed-accuracy trade-off,,novel Point-Grid fusion block extracts semantic features,2D projected grid,minimal information loss,single-time model inference
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