LIE delivers LiDAR-only HD map segmentation via online knowledge distillation that fuses intensity maps, beating the best camera-only model by 8.2% mIoU on nuScenes while adapting quickly to new datasets.
The lovasz-softmax loss: A tractable surrogate for the optimization of the intersection- over-union measure in neural networks
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LIE: LiDAR-only HD Map Construction with Intensity Enhancement via Online Knowledge Distillation
LIE delivers LiDAR-only HD map segmentation via online knowledge distillation that fuses intensity maps, beating the best camera-only model by 8.2% mIoU on nuScenes while adapting quickly to new datasets.