Papers › Meta-RangeSeg: LiDAR Sequence Semantic Segmentation Using Multiple Feature Aggregation
Meta-RangeSeg: LiDAR Sequence Semantic Segmentation Using Multiple Feature Aggregation
Song Wang, Jianke Zhu, Ruixiang Zhang
LiDAR sensor is essential to the perception system in autonomous vehicles and intelligent robots. To fulfill the real-time requirements in real-world applications, it is necessary to efficiently segment the LiDAR scans. Most of previous approaches directly project 3D point cloud onto the 2D spherical range image so that they can make use of the efficient 2D convolutional operations for image segmentation. Although having achieved the encouraging results, the neighborhood information is not well-preserved in the spherical projection. Moreover, the temporal information is not taken into consideration in the single scan segmentation task. To tackle these problems, we propose a novel approach to semantic segmentation for LiDAR sequences named Meta-RangeSeg, where a new range residual image representation is introduced to capture the spatial-temporal information. Specifically, Meta-Kernel is employed to extract the meta features, which reduces the inconsistency between the 2D range image coordinates input and 3D Cartesian coordinates output. An efficient U-Net backbone is used to obtain the multi-scale features. Furthermore, Feature Aggregation Module (FAM) strengthens the role of range channel and aggregates features at different levels. We have conducted extensive experiments for performance evaluation on SemanticKITTI and SemanticPOSS. The promising results show that our proposed Meta-RangeSeg method is more efficient and effective than the existing approaches. Our full implementation is publicly available at https://github.com/songw-zju/Meta-RangeSeg .
In Syntology Open this paper in Syntology's Atlas, the map of the papers in Syntology's graph and their citations.
Code
Repository list and official/mentioned flags are the archive's, frozen 2025-07-28. Reachability, where shown, is from one Syntology probe window (2026-09-16 to 2026-09-18); repositories not probed show nothing. GitHub stars are not tracked.
Code Syntology ran Syntology
Not run by Syntology. Nothing on this page verifies that the listed code works.
Tasks
Results from the paper archive 2025-07-28
| Task | Dataset | Model | Metric | Value | Rank at snapshot | Leaderboard | Report |
|---|---|---|---|---|---|---|---|
| 3D Semantic Segmentation | SemanticKITTI | Meta-RangeSeg | test mIoU | 61.0% | #20 of 45 | Archive leaderboard | report |
Ranks are positions in the archive's leaderboards as they stood at the 2025-07-28 snapshot. Results published since then are not among these rows, so a rank here is not a current standing.
Methods
Report a problem or propose a change · a person checks every report against the paper or source before anything changes; decisions are listed on /corrections