# No Thing, Nothing: Highlighting Safety-Critical Classes for Robust LiDAR Semantic Segmentation in Adverse Weather

arXiv: https://arxiv.org/abs/2503.15910 · HTML: https://mlsanity.com/paper/2503.15910/

## Key facts

- Cited by 5 papers in the map (data through 14 Oct 2026).
- Builds on 23 of its 32 references that are in the map.
- First posted on arXiv 20 Mar 2025.

## Builds on (most cited first, 23 of 23)

- [PointNet: Deep Learning on Point Sets for 3D Classification and Segmentation](https://mlsanity.com/paper/1612.00593/) (2016)
- [What Uncertainties Do We Need in Bayesian Deep Learning for Computer Vision?](https://mlsanity.com/paper/1703.04977/) (2017)
- [Point Transformer](https://mlsanity.com/paper/2011.00931/) (2020)
- [MLP-Mixer: An all-MLP Architecture for Vision](https://mlsanity.com/paper/2105.01601/) (2021)
- [4D Spatio-Temporal ConvNets: Minkowski Convolutional Neural Networks](https://mlsanity.com/paper/1904.08755/) (2019)
- [KPConv: Flexible and Deformable Convolution for Point Clouds](https://mlsanity.com/paper/1904.08889/) (2019)
- [Searching Efficient 3D Architectures with Sparse Point-Voxel Convolution](https://mlsanity.com/paper/2007.16100/) (2020)
- [Robo3D: Towards Robust and Reliable 3D Perception against Corruptions](https://mlsanity.com/paper/2303.17597/) (2023)
- [Rethinking Range View Representation for LiDAR Segmentation](https://mlsanity.com/paper/2303.05367/) (2023)
- [Spherical Transformer for LiDAR-based 3D Recognition](https://mlsanity.com/paper/2303.12766/) (2023)
- [SemanticPOSS: A Point Cloud Dataset with Large Quantity of Dynamic Instances](https://mlsanity.com/paper/2002.09147/) (2020)
- [Cylinder3D: An Effective 3D Framework for Driving-scene LiDAR Semantic Segmentation](https://mlsanity.com/paper/2008.01550/) (2020)
- [Fog Simulation on Real LiDAR Point Clouds for 3D Object Detection in Adverse Weather](https://mlsanity.com/paper/2108.05249/) (2021)
- [Weakly Supervised Semantic Segmentation by Pixel-to-Prototype Contrast](https://mlsanity.com/paper/2110.07110/) (2021)
- [RangeViT: Towards Vision Transformers for 3D Semantic Segmentation in Autonomous Driving](https://mlsanity.com/paper/2301.10222/) (2023)
- [PolarMix: A General Data Augmentation Technique for LiDAR Point Clouds](https://mlsanity.com/paper/2208.00223/) (2022)
- [LiDAR Snowfall Simulation for Robust 3D Object Detection](https://mlsanity.com/paper/2203.15118/) (2022)
- [PointMixer: MLP-Mixer for Point Cloud Understanding](https://mlsanity.com/paper/2111.11187/) (2021)
- [3D Semantic Segmentation in the Wild: Learning Generalized Models for Adverse-Condition Point Clouds](https://mlsanity.com/paper/2304.00690/) (2023)
- [Unbiased Subclass Regularization for Semi-Supervised Semantic Segmentation](https://mlsanity.com/paper/2203.10026/) (2022)
- [UniMix: Towards Domain Adaptive and Generalizable LiDAR Semantic Segmentation in Adverse Weather](https://mlsanity.com/paper/2404.05145/) (2024)
- [KPConvX: Modernizing Kernel Point Convolution with Kernel Attention](https://mlsanity.com/paper/2405.13194/) (2024)
- [Rethinking Data Augmentation for Robust LiDAR Semantic Segmentation in Adverse Weather](https://mlsanity.com/paper/2407.02286/) (2024)

## Built on by (most cited first, 5 of 5)

- [Towards Generalized Range-View LiDAR Segmentation in Adverse Weather](https://mlsanity.com/paper/2506.08979/) (2025)
- [Source-Only Cross-Weather LiDAR via Geometry-Aware Point Drop](https://mlsanity.com/paper/2511.01250/) (2025)
- [Adaptive Augmentation-Aware Latent Learning for Robust LiDAR Semantic Segmentation](https://mlsanity.com/paper/2603.01074/) (2026)
- [Mamba Learns in Context: Structure-Aware Domain Generalization for Multi-Task Point Cloud Understanding](https://mlsanity.com/paper/2603.20739/) (2026)
- [RAF: Reliability-Aware Fusion of Camera, LiDAR, and 4D RADAR for Robust 3D Object Detection in Adverse Weather](https://mlsanity.com/paper/2607.04587/) (2026)

## Abstract (arXiv)

Existing domain generalization methods for LiDAR semantic segmentation under adverse weather struggle to accurately predict "things" categories compared to "stuff" categories. In typical driving scenes, "things" categories can be dynamic and associated with higher collision risks, making them crucial for safe navigation and planning. Recognizing the importance of "things" categories, we identify their performance drop as a serious bottleneck in existing approaches. We observed that adverse weather induces degradation of semantic-level features and both corruption of local features, leading to a misprediction of "things" as "stuff". To mitigate these corruptions, we suggest our method, NTN - segmeNt Things for No-accident. To address semantic-level feature corruption, we bind each point feature to its superclass, preventing the misprediction of things classes into visually dissimilar categories. Additionally, to enhance robustness against local corruption caused by adverse weather, we define each LiDAR beam as a local region and propose a regularization term that aligns the clean data with its corrupted counterpart in feature space. NTN achieves state-of-the-art performance with a +2.6 mIoU gain on the SemanticKITTI-to-SemanticSTF benchmark and +7.9 mIoU on the SemanticPOSS-to-SemanticSTF benchmark. Notably, NTN achieves a +4.8 and +7.9 mIoU improvement on "things" classes, respectively, highlighting its effectiveness.