Temporal Feature Matching and Propagation for Semantic Segmentation on 3D Point Cloud Sequences

Abstract

In real-world LiDAR-based applications, data is generated in the form of 3D point cloud sequences or 4D point clouds. However, the topic of semantic segmentation on 4D point clouds is under-investigated and existing methods are still not able to achieve satisfactory performance to meet the requirement for real-world applications. The temporal information across different point clouds plays an important role in dynamic scene understanding, which is not well explored in existing work. In this paper, we focus on exploring effective temporal information across two consecutive point clouds for semantic segmentation on point cloud sequences. To this end, we design three novel modules to enhance the features of target frames by extracting different temporal information in the local regions and global regions. Experimental results on SemanticKITTI and SemanticPOSS demonstrate that our method achieves superior performance in 4D semantic segmentation by utilizing temporal information.