RPVNet: A Deep and Efficient Range-Point-Voxel Fusion Network for LiDAR Point Cloud Segmentation

Understand

Point clouds can be represented in many forms (views), typically, point-based sets, voxel-based cells or range-based images(i.e., panoramic view).

• The point-based view is geometrically accurate, but it is disordered, which makes it difficult to find local neighbors efficiently.
• The voxel-based view is regular, but sparse, and computation grows cubically when voxel resolution increases.
• The range-based view is regular and generally dense, however spherical projection makes physical dimensions distorted.