# Semantic Segmentation-assisted Scene Completion for LiDAR Point Clouds

arXiv: https://arxiv.org/abs/2109.11453 · HTML: https://mlsanity.com/paper/2109.11453/

## Key facts

- Cited by 37 papers in the map (data through 14 Oct 2026).
- Builds on 24 of its 30 references that are in the map.
- First posted on arXiv 23 Sep 2021.

## Builds on (most cited first, 24 of 24)

- [Adam: A Method for Stochastic Optimization](https://mlsanity.com/paper/1412.6980/) (2014)
- [PointNet: Deep Learning on Point Sets for 3D Classification and Segmentation](https://mlsanity.com/paper/1612.00593/) (2016)
- [PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Space](https://mlsanity.com/paper/1706.02413/) (2017)
- [PointPillars: Fast Encoders for Object Detection from Point Clouds](https://mlsanity.com/paper/1812.05784/) (2018)
- [3D U-Net: Learning Dense Volumetric Segmentation from Sparse Annotation](https://mlsanity.com/paper/1606.06650/) (2016)
- [KPConv: Flexible and Deformable Convolution for Point Clouds](https://mlsanity.com/paper/1904.08889/) (2019)
- [3D Semantic Segmentation with Submanifold Sparse Convolutional Networks](https://mlsanity.com/paper/1711.10275/) (2017)
- [RandLA-Net: Efficient Semantic Segmentation of Large-Scale Point Clouds](https://mlsanity.com/paper/1911.11236/) (2019)
- [Semantic Scene Completion from a Single Depth Image](https://mlsanity.com/paper/1611.08974/) (2016)
- [Cylindrical and Asymmetrical 3D Convolution Networks for LiDAR Segmentation](https://mlsanity.com/paper/2011.10033/) (2020)
- [PolarNet: An Improved Grid Representation for Online LiDAR Point Clouds Semantic Segmentation](https://mlsanity.com/paper/2003.14032/) (2020)
- [SpiderCNN: Deep Learning on Point Sets with Parameterized Convolutional Filters](https://mlsanity.com/paper/1803.11527/) (2018)
- [SqueezeSeg: Convolutional Neural Nets with Recurrent CRF for Real-Time Road-Object Segmentation from 3D LiDAR Point Cloud](https://mlsanity.com/paper/1710.07368/) (2017)
- [SqueezeSegV2: Improved Model Structure and Unsupervised Domain Adaptation for Road-Object Segmentation from a LiDAR Point Cloud](https://mlsanity.com/paper/1809.08495/) (2018)
- [Sparse Single Sweep LiDAR Point Cloud Segmentation via Learning Contextual Shape Priors from Scene Completion](https://mlsanity.com/paper/2012.03762/) (2020)
- [LMSCNet: Lightweight Multiscale 3D Semantic Completion](https://mlsanity.com/paper/2008.10559/) (2020)
- [SqueezeSegV3: Spatially-Adaptive Convolution for Efficient Point-Cloud Segmentation](https://mlsanity.com/paper/2004.01803/) (2020)
- [Cylinder3D: An Effective 3D Framework for Driving-scene LiDAR Semantic Segmentation](https://mlsanity.com/paper/2008.01550/) (2020)
- [ScanComplete: Large-Scale Scene Completion and Semantic Segmentation for 3D Scans](https://mlsanity.com/paper/1712.10215/) (2017)
- [S3CNet: A Sparse Semantic Scene Completion Network for LiDAR Point Clouds](https://mlsanity.com/paper/2012.09242/) (2020)
- [Semantic Scene Completion using Local Deep Implicit Functions on LiDAR Data](https://mlsanity.com/paper/2011.09141/) (2020)
- [Efficient Semantic Scene Completion Network with Spatial Group Convolution](https://mlsanity.com/paper/1907.05091/) (2019)
- [SalsaNet: Fast Road and Vehicle Segmentation in LiDAR Point Clouds for Autonomous Driving](https://mlsanity.com/paper/1909.08291/) (2019)
- [Two Stream 3D Semantic Scene Completion](https://mlsanity.com/paper/1804.03550/) (2018)

## Built on by (most cited first, 30 of 37)

- [DriveArena: A Closed-loop Generative Simulation Platform for Autonomous Driving](https://mlsanity.com/paper/2408.00415/) (2024)
- [OccDepth: A Depth-Aware Method for 3D Semantic Scene Completion](https://mlsanity.com/paper/2302.13540/) (2023)
- [SCPNet: Semantic Scene Completion on Point Cloud](https://mlsanity.com/paper/2303.06884/) (2023)
- [Driving in the Occupancy World: Vision-Centric 4D Occupancy Forecasting and Planning via World Models for Autonomous Driving](https://mlsanity.com/paper/2408.14197/) (2024)
- [SemCity: Semantic Scene Generation with Triplane Diffusion](https://mlsanity.com/paper/2403.07773/) (2024)
- [Co-Occ: Coupling Explicit Feature Fusion with Volume Rendering Regularization for Multi-Modal 3D Semantic Occupancy Prediction](https://mlsanity.com/paper/2404.04561/) (2024)
- [Camera-based 3D Semantic Scene Completion with Sparse Guidance Network](https://mlsanity.com/paper/2312.05752/) (2023)
- [SSC-RS: Elevate LiDAR Semantic Scene Completion with Representation Separation and BEV Fusion](https://mlsanity.com/paper/2306.15349/) (2023)
- [LiCROcc: Teach Radar for Accurate Semantic Occupancy Prediction using LiDAR and Camera](https://mlsanity.com/paper/2407.16197/) (2024)
- [DiffSSC: Semantic LiDAR Scan Completion using Denoising Diffusion Probabilistic Models](https://mlsanity.com/paper/2409.18092/) (2024)
- [GaussianFormer3D: Multi-Modal Gaussian-based Semantic Occupancy Prediction with 3D Deformable Attention](https://mlsanity.com/paper/2505.10685/) (2025)
- [VoxDet: Rethinking 3D Semantic Occupancy Prediction as Dense Object Detection](https://mlsanity.com/paper/2506.04623/) (2025)
- [Offboard Occupancy Refinement with Hybrid Propagation for Autonomous Driving](https://mlsanity.com/paper/2403.08504/) (2024)
- [TALoS: Enhancing Semantic Scene Completion via Test-time Adaptation on the Line of Sight](https://mlsanity.com/paper/2410.15674/) (2024)
- [SplatSSC: Decoupled Depth-Guided Gaussian Splatting for Semantic Scene Completion](https://mlsanity.com/paper/2508.02261/) (2025)
- [OneOcc: Semantic Occupancy Prediction for Legged Robots with a Single Panoramic Camera](https://mlsanity.com/paper/2511.03571/) (2025)
- [ReliOcc: Towards Reliable Semantic Occupancy Prediction via Uncertainty Learning](https://mlsanity.com/paper/2409.18026/) (2024)
- [MetaSSC: Enhancing 3D Semantic Scene Completion for Autonomous Driving through Meta-Learning and Long-sequence Modeling](https://mlsanity.com/paper/2411.03672/) (2024)
- [Three Cars Approaching within 100m! Enhancing Distant Geometry by Tri-Axis Voxel Scanning for Camera-based Semantic Scene Completion](https://mlsanity.com/paper/2411.16129/) (2024)
- [Vision-Centric 4D Occupancy Forecasting and Planning via Implicit Residual World Models](https://mlsanity.com/paper/2510.16729/) (2025)
- [US-X Complete: A Multi-Modal Approach to Anatomical 3D Shape Recovery](https://mlsanity.com/paper/2511.15600/) (2025)
- [Enhancing 3D Semantic Scene Completion with a Refinement Module](https://mlsanity.com/paper/2512.18363/) (2025)
- [OMEGA: Efficient Occlusion-Aware Navigation for Air-Ground Robot in Dynamic Environments via State Space Model](https://mlsanity.com/paper/2408.10618/) (2024)
- [Vision-based 3D Semantic Scene Completion via Capture Dynamic Representations](https://mlsanity.com/paper/2503.06222/) (2025)
- [Out-of-Distribution Semantic Occupancy Prediction](https://mlsanity.com/paper/2506.21185/) (2025)
- [Exploring Easy Boosts for Lidar Semantic Scene Completion](https://mlsanity.com/paper/2606.03992/) (2026)
- [Circular Accessible Depth: A Robust Traversability Representation for UGV Navigation](https://mlsanity.com/paper/2212.13676/) (2022)
- [MOVES: Movable and Moving LiDAR Scene Segmentation in Label-Free settings using Static Reconstruction](https://mlsanity.com/paper/2306.14812/) (2023)
- [DGOcc: Depth-aware Global Query-based Network for Monocular 3D Occupancy Prediction](https://mlsanity.com/paper/2504.07524/) (2025)
- [TACOcc:Target-Adaptive Cross-Modal Fusion with Volume Rendering for 3D Semantic Occupancy](https://mlsanity.com/paper/2505.12693/) (2025)

## Abstract (arXiv)

Outdoor scene completion is a challenging issue in 3D scene understanding, which plays an important role in intelligent robotics and autonomous driving. Due to the sparsity of LiDAR acquisition, it is far more complex for 3D scene completion and semantic segmentation. Since semantic features can provide constraints and semantic priors for completion tasks, the relationship between them is worth exploring. Therefore, we propose an end-to-end semantic segmentation-assisted scene completion network, including a 2D completion branch and a 3D semantic segmentation branch. Specifically, the network takes a raw point cloud as input, and merges the features from the segmentation branch into the completion branch hierarchically to provide semantic information. By adopting BEV representation and 3D sparse convolution, we can benefit from the lower operand while maintaining effective expression. Besides, the decoder of the segmentation branch is used as an auxiliary, which can be discarded in the inference stage to save computational consumption. Extensive experiments demonstrate that our method achieves competitive performance on SemanticKITTI dataset with low latency. Code and models will be released at https://github.com/jokester-zzz/SSA-SC.