Vernata extends Sonata with sparse-view augmentation, a Sinkhorn-Knopp memory bank, and high-resolution 2D-to-3D distillation, improving LiDAR semantic segmentation mIoU by 5.9 to 7.3 points over baselines.
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Vernata: Self-Supervised Learning of LiDAR Point Representations
Vernata extends Sonata with sparse-view augmentation, a Sinkhorn-Knopp memory bank, and high-resolution 2D-to-3D distillation, improving LiDAR semantic segmentation mIoU by 5.9 to 7.3 points over baselines.