# Semi-Local Convolutions for LiDAR Scan Processing

arXiv: https://arxiv.org/abs/2111.15615 · HTML: https://mlsanity.com/paper/2111.15615/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 10 of its 16 references that are in the map.
- First posted on arXiv 30 Nov 2021.

## Builds on (most cited first, 10 of 10)

- [nuScenes: A multimodal dataset for autonomous driving](https://mlsanity.com/paper/1903.11027/) (2019)
- [Scalability in Perception for Autonomous Driving: Waymo Open Dataset](https://mlsanity.com/paper/1912.04838/) (2019)
- [M3D-RPN: Monocular 3D Region Proposal Network for Object Detection](https://mlsanity.com/paper/1907.06038/) (2019)
- [SqueezeSegV2: Improved Model Structure and Unsupervised Domain Adaptation for Road-Object Segmentation from a LiDAR Point Cloud](https://mlsanity.com/paper/1809.08495/) (2018)
- [Learning Depth-Guided Convolutions for Monocular 3D Object Detection](https://mlsanity.com/paper/1912.04799/) (2019)
- [On Translation Invariance in CNNs: Convolutional Layers can Exploit Absolute Spatial Location](https://mlsanity.com/paper/2003.07064/) (2020)
- [RangeDet:In Defense of Range View for LiDAR-based 3D Object Detection](https://mlsanity.com/paper/2103.10039/) (2021)
- [Range Conditioned Dilated Convolutions for Scale Invariant 3D Object Detection](https://mlsanity.com/paper/2005.09927/) (2020)
- [EfficientLPS: Efficient LiDAR Panoptic Segmentation](https://mlsanity.com/paper/2102.08009/) (2021)
- [Scan-based Semantic Segmentation of LiDAR Point Clouds: An Experimental Study](https://mlsanity.com/paper/2004.11803/) (2020)

## Built on by (most cited first, 1 of 1)

- [Analyzing Deep Learning Representations of Point Clouds for Real-Time In-Vehicle LiDAR Perception](https://mlsanity.com/paper/2210.14612/) (2022)

## Abstract (arXiv)

A number of applications, such as mobile robots or automated vehicles, use LiDAR sensors to obtain detailed information about their three-dimensional surroundings. Many methods use image-like projections to efficiently process these LiDAR measurements and use deep convolutional neural networks to predict semantic classes for each point in the scan. The spatial stationary assumption enables the usage of convolutions. However, LiDAR scans exhibit large differences in appearance over the vertical axis. Therefore, we propose semi local convolution (SLC), a convolution layer with reduced amount of weight-sharing along the vertical dimension. We are first to investigate the usage of such a layer independent of any other model changes. Our experiments did not show any improvement over traditional convolution layers in terms of segmentation IoU or accuracy.