FRNet: Frustum-Range Networks for Scalable LiDAR Segmentation
College of Computer Science and Technology, Nanjing University of Aeronautics and Astronautics（南京航空航天大学计算机科学与技术学院）；School of Computer Science, Nanjing University of Posts and Telecommunications（南京邮电大学计算机学院）
LiDAR segmentation has become a crucial component of advanced autonomous driving systems. Recent range-view LiDAR segmentation approaches show promise for real-time processing. However, they inevitably suffer from corrupted contextual information and rely heavily on post-processing techniques for prediction refinement. In this work, we propose FRNet, a simple yet powerful method aimed at restoring the contextual information of range image pixels using corresponding frustum LiDAR points. First, a frustum feature encoder module is used to extract per-point features within the frustum region, which preserves scene consistency and is critical for point-level predictions. Next, a frustum-point fusion module is introduced to update per-point features hierarchically, enabling each point to extract more surrounding information through the frustum features. Finally, a head fusion module is used to fuse features at different levels for final semantic predictions. Extensive experiments conducted on four popular LiDAR segmentation benchmarks under various task setups demonstrate the superiority of FRNet. Notably, FRNet achieves 73.3% and 82.5% mIoU scores on the testing sets of SemanticKITTI and nuScenes. While achieving competitive performance, FRNet operates 5 times faster than state-of-the-art approaches. Such high efficiency opens up new possibilities for more scalable LiDAR segmentation. The code has been made publicly available at https://github.com/Xiangxu-0103/FRNet.
TOLiD: Bridging the Architecture Gap in Vision Foundation Model to LiDAR Pretraining via Token Lifting for Distillation
SAIVT Group, School of Electrical Engineering and Robotics, Queensland University of Technology（澳大利亚昆士兰科技大学电气工程与机器人学院SAIVT组）；CSIRO Robotics, CSIRO（澳大利亚联邦科学与工业研究组织机器人部）
FrustumFusionNets: A Three-Dimensional Object Detection Network Based on Tractor Road Scene
College of Information and Electrical Engineering, China Agricultural University（中国农业大学信息与电气工程学院）；Key Laboratory of Agricultural Machinery Monitoring and Big Data Applications, Ministry of Agriculture and Rural Affairs（农业农村部农业机械监测与大数据应用重点实验室）
Virtually increasing the measurement frequency of LIDAR sensor utilizing a single RGB camera
Institute for Computer Science and Control (SZTAKI), Eötvös Loránd Research Network (ELKH)（厄特沃什·洛兰研究网络（ELKH）计算机科学与控制研究所（SZTAKI））；Budapest University of Technology and Economics（布达佩斯技术与经济大学）
