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arXiv · 2204.08744

Proposal-free Lidar Panoptic Segmentation with Pillar-level Affinity

Qi Chen·Sourabh Vora
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Abstract

We propose a simple yet effective proposal-free architecture for lidar panoptic segmentation. We jointly optimize both semantic segmentation and class-agnostic instance classification in a single network using a pillar-based bird's-eye view representation. The instance classification head learns pairwise affinity between pillars to determine whether the pillars belong to the same instance or not. We further propose a local clustering algorithm to propagate instance ids by merging semantic segmentation and affinity predictions. Our experiments on nuScenes dataset show that our approach outperforms previous proposal-free methods and is comparable to proposal-based methods which requires extra annotation from object detection.

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Qi Chen, Sourabh Vora. 2022-04-19. Proposal-free Lidar Panoptic Segmentation with Pillar-level Affinity. https://arxiv.org/abs/2204.08744

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