Presentation 2022-03-27
Range-Equivariant Convolution for Spherical Projection-based Segmentation of LiDAR Point Clouds
Hidetaka Marumo, Takashi Matsubara,
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Abstract(in Japanese) (See Japanese page)
Abstract(in English) In autonomous driving, LiDAR point clouds segmentation has attracted much attention. For efficiency and ease of design, the mainstream methods convert the point clouds into 2D range-images by spherical projection and feed them to 2D convolutional neural networks. To boost the accuracy, scale-equivariance incorporated into the network is crucial because distant objects are smaller than nearby ones in images. Focusing on the relationship between the object distance and the scale ratio in images, we propose a novel scale-equivariant convolutional method, which transforms scaled features into unscaled ones by weighting kernels according to the distance of objects.
Keyword(in Japanese) (See Japanese page)
Keyword(in English) LiDAR point clouds / semantic segmentation / spherical projection / scale-equivariance / autonomous driving
Paper # CCS2021-49
Date of Issue 2022-03-20 (CCS)

Conference Information
Committee CCS
Conference Date 2022/3/27(1days)
Place (in Japanese) (See Japanese page)
Place (in English) RUSUTSU RESORT HOTEL & CONVENTION
Topics (in Japanese) (See Japanese page)
Topics (in English)
Chair Tetsuya Asai(Hokkaido Univ.)
Vice Chair Megumi Akai(Hokkaido Univ.) / Masaki Aida(TMU)
Secretary Megumi Akai(TDK) / Masaki Aida(Mie Univ.)
Assistant Hidehiro Nakano(Tokyo City Univ.) / Hiroyasu Ando(Tsukuba Univ.) / Takashi Matsubara(Osaka Univ.) / Sumiko Miyata(Shibaura Inst. of Tech.)

Paper Information
Registration To Technical Committee on Complex Communication Sciences
Language ENG
Title (in Japanese) (See Japanese page)
Sub Title (in Japanese) (See Japanese page)
Title (in English) Range-Equivariant Convolution for Spherical Projection-based Segmentation of LiDAR Point Clouds
Sub Title (in English)
Keyword(1) LiDAR point clouds
Keyword(2) semantic segmentation
Keyword(3) spherical projection
Keyword(4) scale-equivariance
Keyword(5) autonomous driving
1st Author's Name Hidetaka Marumo
1st Author's Affiliation Osaka University(Osaka Univ)
2nd Author's Name Takashi Matsubara
2nd Author's Affiliation Osaka University(Osaka Univ)
Date 2022-03-27
Paper # CCS2021-49
Volume (vol) vol.121
Number (no) CCS-442
Page pp.pp.78-83(CCS),
#Pages 6
Date of Issue 2022-03-20 (CCS)