IAL combines synchronized LiDAR-image augmentation, geometry-guided token fusion, and modality-prior queries to reach state-of-the-art 3D panoptic segmentation on nuScenes and SemanticKITTI.
SemanticKITTI: A Dataset for Semantic Scene Understanding of LiDAR Sequences
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How Do Images Align and Complement LiDAR? Towards a Harmonized Multi-modal 3D Panoptic Segmentation
IAL combines synchronized LiDAR-image augmentation, geometry-guided token fusion, and modality-prior queries to reach state-of-the-art 3D panoptic segmentation on nuScenes and SemanticKITTI.