Lidar point clouds are crucial for autonomous driving, but their sparsity and scale variations pose challenges for instance segmentation. In this paper, we propose LCPSNet, a Light Detection and Ranging (LiDAR) channel-aware point segmentation network designed to handle distance-dependent sparsity and scale variation in point clouds. A top-down FPN is adopted, where high-level features are progressively upsampled and fused with shallow layers. The fused features at 1/16, 1/8, and 1/4 are further aligned to a common BEV/polar grid and processed by the Local Perception Module (LPM), which applies cross-scale, position-dependent weighting to enhance intra-object coherence and suppress interference. The Inter-Channel Correlation Module (ICCM) employs ball queries to model spatial and channel correlations, computing an inter-channel similarity matrix to reduce redundancy and highlight valid features. Experiments on SemanticKITTI and Waymo show that LPM and ICCM effectively improve local feature refinement and global semantic consistency. LCPSNet achieves 70.9 PQ and 77.1 mIoU on SemanticKITTI, surpassing mainstream methods and reaching state-of-the-art performance.
Du et al. (Fri,) studied this question.