# Off-Road LiDAR Intensity Based Semantic Segmentation

arXiv: https://arxiv.org/abs/2401.01439 · HTML: https://mlsanity.com/paper/2401.01439/

## Key facts

- Cited by 4 papers in the map (data through 14 Oct 2026).
- Builds on 5 of its 9 references that are in the map.
- First posted on arXiv 2 Jan 2024.

## Builds on (most cited first, 5 of 5)

- [KPConv: Flexible and Deformable Convolution for Point Clouds](https://mlsanity.com/paper/1904.08889/) (2019)
- [SalsaNext: Fast, Uncertainty-aware Semantic Segmentation of LiDAR Point Clouds for Autonomous Driving](https://mlsanity.com/paper/2003.03653/) (2020)
- [RELLIS-3D Dataset: Data, Benchmarks and Analysis](https://mlsanity.com/paper/2011.12954/) (2020)
- [SalsaNet: Fast Road and Vehicle Segmentation in LiDAR Point Clouds for Autonomous Driving](https://mlsanity.com/paper/1909.08291/) (2019)
- [Analysis of LiDAR Configurations on Off-road Semantic Segmentation Performance](https://mlsanity.com/paper/2306.16551/) (2023)

## Built on by (most cited first, 4 of 4)

- [Delving into Multi-modal Multi-task Foundation Models for Road Scene Understanding: From Learning Paradigm Perspectives](https://mlsanity.com/paper/2402.02968/) (2024)
- [Reflectivity Is All You Need!: Advancing LiDAR Semantic Segmentation](https://mlsanity.com/paper/2403.13188/) (2024)
- [Autonomous Driving in Unstructured Environments: How Far Have We Come?](https://mlsanity.com/paper/2410.07701/) (2024)
- [InvRGB+L: Inverse Rendering of Complex Scenes with Unified Color and LiDAR Reflectance Modeling](https://mlsanity.com/paper/2507.17613/) (2025)

## Abstract (arXiv)

LiDAR is used in autonomous driving to provide 3D spatial information and enable accurate perception in off-road environments, aiding in obstacle detection, mapping, and path planning. Learning-based LiDAR semantic segmentation utilizes machine learning techniques to automatically classify objects and regions in LiDAR point clouds. Learning-based models struggle in off-road environments due to the presence of diverse objects with varying colors, textures, and undefined boundaries, which can lead to difficulties in accurately classifying and segmenting objects using traditional geometric-based features. In this paper, we address this problem by harnessing the LiDAR intensity parameter to enhance object segmentation in off-road environments. Our approach was evaluated in the RELLIS-3D data set and yielded promising results as a preliminary analysis with improved mIoU for classes "puddle" and "grass" compared to more complex deep learning-based benchmarks. The methodology was evaluated for compatibility across both Velodyne and Ouster LiDAR systems, assuring its cross-platform applicability. This analysis advocates for the incorporation of calibrated intensity as a supplementary input, aiming to enhance the prediction accuracy of learning based semantic segmentation frameworks. https://github.com/MOONLABIISERB/lidar-intensity-predictor/tree/main