Chair for Computer Aided Medical Procedures & Augmented Reality
Lehrstuhl für Informatikanwendungen in der Medizin & Augmented Reality

S. Gasperini, M.-A. N. Mahani, A. Marcos-Ramiro, N. Navab, F. Tombari
Panoster: End-to-end Panoptic Segmentation of LiDAR? Point Clouds
Under review for IEEE Robotics and Automation Letters (RA-L) and the International Conference on Robotics and Automation (ICRA) 2021.
Preprint available on arxiv.

Panoptic segmentation has recently unified semantic and instance segmentation, previously addressed separately, thus taking a step further towards creating more comprehensive and efficient perception systems. In this paper, we present Panoster, a novel proposal-free panoptic segmentation method for point clouds. Unlike previous approaches relying on several steps to group pixels or points into objects, Panoster proposes a simplified framework incorporating a learning-based clustering solution to identify instances. At inference time, this acts as a class-agnostic semantic segmentation, allowing Panoster to be fast, while outperforming prior methods in terms of accuracy. Additionally, we showcase how our approach can be flexibly and effectively applied on diverse existing semantic architectures to deliver panoptic predictions.
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