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Panoster: End-to-end Panoptic Segmentation of LiDAR Point Clouds

2020-10-28 18:10:20
Stefano Gasperini, Mohammad-Ali Nikouei Mahani, Alvaro Marcos-Ramiro, Nassir Navab, Federico Tombari


tract: Panoptic segmentation has recently unified semantic and instance segmentation, previously addressed separately, thus taking a step further towards creating more comprehensive and efficient perception systems. In this paper, we present Panoster, a novel proposal-free panoptic segmentation method for point clouds. Unlike previous approaches relying on several steps to group pixels or points into objects, Panoster proposes a simplified framework incorporating a learning-based clustering solution to identify instances. At inference time, this acts as a class-agnostic semantic segmentation, allowing Panoster to be fast, while outperforming prior methods in terms of accuracy. Additionally, we showcase how our approach can be flexibly and effectively applied on diverse existing semantic architectures to deliver panoptic predictions.

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