GP-S3Net: Graph-based Panoptic Sparse Semantic Segmentation Network
GP-S3Net:그림 기반 전경 희소 의미 분할 네트워크
GP-S3Net: una red de segmentación semántica escasa basada en gráficos
GP-S3Net: un réseau de segmentation sémantique clairsemé basé sur des graphiques
GP-S3Net: разделенная сеть на основе панорамного изображения
Ryan Razani, Ran Cheng 程冉, Enxu Li, Ehsan Taghavi, Yuan Ren, Liu Bingbing
Huawei Noah’s Ark Lab, Toronto, Canada
arXiv, 18 August 2021

Panoptic segmentation as an integrated task of both static environmental understanding and dynamic object identification, has recently begun to receive broad research interest. In this paper, we propose a new computationally efficient LiDAR based panoptic segmentation framework, called GP-S3Net.

GP-S3Net is a proposal-free approach in which no object proposals are needed to identify the objects in contrast to conventional two-stage panoptic systems, where a detection network is incorporated for capturing instance information. Our new design consists of a novel instance-level network to process the semantic results by constructing a graph convolutional network to identify objects (foreground), which later on are fused with the background classes. Through the fine-grained clusters of the foreground objects from the semantic segmentation backbone, over-segmentation priors are generated and subsequently processed by 3D sparse convolution to embed each cluster. Each cluster is treated as a node in the graph and its corresponding embedding is used as its node feature. Then a GCNN predicts whether edges exist between each cluster pair.

We utilize the instance label to generate ground truth edge labels for each constructed graph in order to supervise the learning. Extensive experiments demonstrate that GP-S3Net outperforms the current state-of-the-art approaches, by a significant margin across available datasets such as, nuScenes and SemanticPOSS, ranking first on the competitive public SemanticKITTI leaderboard upon publication.
Reviews and Discussions
An overview on the principle of inkjet printing technique and its application in micro-display for augmented/virtual realities
Nonlinear optics with structured light
Femtosecond laser-induced periodic structures: mechanisms, techniques, and applications
Giant and light modifiable third-order optical nonlinearity in a free-standing h-BN film
New approach for the digital reconstruction of complex mine faults and its application in mining
p62/SQSTM1 Participates in the Innate Immune Response of Macrophages Against Candida albicans Infection
Configurable topological beam splitting via antichiral gyromagnetic photonic crystal
Single-molecule optoelectronic devices: physical mechanism and beyond
Functional nonlinear optical nanoparticles synthesized by laser ablation
The m6A methylation regulates gonadal sex differentiation in chicken embryo
A new species in the genus Synanthedon (Lepidoptera: Sesiidae) from China
A review on the forward osmosis applications and fouling control strategies for wastewater treatment

Previous Article                                Next Article
Copyright © Hot Paper