Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: LiDAR-based Recurrent 3D Semantic Segmentation with Temporal Memory
  Alignment   Understanding and interpreting a 3d environment is a key challenge for
autonomous vehicles. Semantic segmentation of 3d point clouds combines 3d
information with semantics and thereby provides a valuable contribution to this
task. In many real-world applications, point clouds are generated by lidar
sensors in a consecutive fashion. Working with a time series instead of single
and independent frames enables the exploitation of temporal information. We
therefore propose a recurrent segmentation architecture (RNN), which takes a
single range image frame as input and exploits recursively aggregated temporal
information. An alignment strategy, which we call Temporal Memory Alignment,
uses ego motion to temporally align the memory between consecutive frames in
feature space. A Residual Network and ConvGRU are investigated for the memory
update. We demonstrate the benefits of the presented approach on two
large-scale datasets and compare it to several stateof-the-art methods. Our
approach ranks first on the SemanticKITTI multiple scan benchmark and achieves
state-of-the-art performance on the single scan benchmark. In addition, the
evaluation shows that the exploitation of temporal information significantly
improves segmentation results compared to a single frame approach.

29
The categories of this paper are: funct-an
5
The categories of this paper are: gr-qc
13
The categories of this paper are: quant-ph
37
The categories of this paper are: supr-con
11
The categories of this paper are: hep-lat
17
The categories of this paper are: q-fin
20
The categories of this paper are: acc-phys
28
The categories of this paper are: alg-geom
19
The categories of this paper are: eess
31
The categories of this paper are: ao-sci
10
The categories of this paper are: q-bio
25
The categories of this paper are: patt-sol
3
The categories of this paper are: physics
8
The categories of this paper are: hep-ex
4
The categories of this paper are: cond-mat
18
The categories of this paper are: econ