{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/taseg-temporal-aggregation-network-for-lidar-1","title":"TASeg: Temporal Aggregation Network for LiDAR Semantic Segmentation","arxiv_id":"2407.09751","date":"2024-07-13","proceeding":"CVPR 2024 1","authors":["Xiaopei Wu","Yuenan Hou","Xiaoshui Huang","Binbin Lin","Tong He","Xinge Zhu","Yuexin Ma","Boxi Wu","Haifeng Liu","Deng Cai","Wanli Ouyang"],"abstract":"Training deep models for LiDAR semantic segmentation is challenging due to the inherent sparsity of point clouds. Utilizing temporal data is a natural remedy against the sparsity problem as it makes the input signal denser. However, previous multi-frame fusion algorithms fall short in utilizing sufficient temporal information due to the memory constraint, and they also ignore the informative temporal images. To fully exploit rich information hidden in long-term temporal point clouds and images, we present the Temporal Aggregation Network, termed TASeg. Specifically, we propose a Temporal LiDAR Aggregation and Distillation (TLAD) algorithm, which leverages historical priors to assign different aggregation steps for different classes. It can largely reduce memory and time overhead while achieving higher accuracy. Besides, TLAD trains a teacher injected with gt priors to distill the model, further boosting the performance. To make full use of temporal images, we design a Temporal Image Aggregation and Fusion (TIAF) module, which can greatly expand the camera FOV and enhance the present features. Temporal LiDAR points in the camera FOV are used as mediums to transform temporal image features to the present coordinate for temporal multi-modal fusion. Moreover, we develop a Static-Moving Switch Augmentation (SMSA) algorithm, which utilizes sufficient temporal information to enable objects to switch their motion states freely, thus greatly increasing static and moving training samples. Our TASeg ranks 1st on three challenging tracks, i.e., SemanticKITTI single-scan track, multi-scan track and nuScenes LiDAR segmentation track, strongly demonstrating the superiority of our method. Codes are available at https://github.com/LittlePey/TASeg.","url_abs":"https://arxiv.org/abs/2407.09751v1","url_pdf":"https://arxiv.org/pdf/2407.09751v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"taseg-temporal-aggregation-network-for-lidar-1","repo_url":"https://github.com/littlepey/taseg","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"pytorch","reach":{"status":"ok","spdx":"Apache-2.0"}}],"tasks":[{"task_slug":"lidar-semantic-segmentation","task_name":"LIDAR Semantic Segmentation"},{"task_slug":"semantic-segmentation","task_name":"Semantic Segmentation"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"syntology_url":"https://syntology.ai/paper/2407.09751","atlas_url":"https://app.syntology.ai/?focus=2407.09751","mcp":{"get_harvested_code_for_paper":{"arxiv_id":"2407.09751"}},"developers":"https://syntology.ai/developers","read_at":"2026-09-25T09:33:49+00:00","read_at_is":"when the build read Syntology's graph, not when any sample ran","claim":"Per-sample execution status on synthesized fixtures; not a correctness claim about the paper. Samples come from repositories linked to the paper, official or community; repo_kind says which.","repos":[{"provenance":"deterministic:regex_extraction","url":"https://github.com/LittlePey/TASeg","reach":{"status":"ok","spdx":"Apache-2.0"}}],"summary":{"ran":5,"unverified":1},"by_repo_kind":{"official":{"samples":6,"ran":5,"repositories":1}},"repo_kind_vocabulary":{"official":"The archive marks this repository official for the paper","named_in_paper":"The archive records that the paper mentions this repository; it is not marked official","listed":"In the archive's code links for this paper, not marked official and not recorded as mentioned in the paper","found_in_text":"Syntology found this repository in the paper's own text; whether it is the authors' implementation is not asserted","community":"Not in the archive's code links for this paper; a community repository Syntology harvested"},"n_pointer_only_for_licence":0,"samples":[{"code_sha256_prefix":"994d01fd9a5b57bf","entry":"dice_coefficient","repo":"LittlePey/TASeg","repo_kind":"official","path":"pcseg/loss/ell_loss.py","file_url":"https://github.com/LittlePey/TASeg/blob/HEAD/pcseg/loss/ell_loss.py","link_basis":"first_harvest_node","language":"python","status":"ran","verification_level":1,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"Apache-2.0","inline_ok":true,"mcp_get_code":{"code_sha256":"994d01fd9a5b57bf"}},{"code_sha256_prefix":"a3fa0347652ec832","entry":"get_master","repo":"LittlePey/TASeg","repo_kind":"official","path":"pcseg/optim/fastai_optim.py","file_url":"https://github.com/LittlePey/TASeg/blob/HEAD/pcseg/optim/fastai_optim.py","link_basis":"first_harvest_node","language":"python","status":"ran","verification_level":1,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"Apache-2.0","inline_ok":true,"mcp_get_code":{"code_sha256":"a3fa0347652ec832"}},{"code_sha256_prefix":"03cf34a5c88c655f","entry":"listify","repo":"LittlePey/TASeg","repo_kind":"official","path":"pcseg/optim/fastai_optim.py","file_url":"https://github.com/LittlePey/TASeg/blob/HEAD/pcseg/optim/fastai_optim.py","link_basis":"first_harvest_node","language":"python","status":"ran","verification_level":1,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":true,"licence":"Apache-2.0","inline_ok":true,"mcp_get_code":{"code_sha256":"03cf34a5c88c655f"}},{"code_sha256_prefix":"b91852dd7528b877","entry":"make_one_hot","repo":"LittlePey/TASeg","repo_kind":"official","path":"pcseg/loss/dice_loss_v0.py","file_url":"https://github.com/LittlePey/TASeg/blob/HEAD/pcseg/loss/dice_loss_v0.py","link_basis":"first_harvest_node","language":"python","status":"ran","verification_level":1,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"Apache-2.0","inline_ok":true,"mcp_get_code":{"code_sha256":"b91852dd7528b877"}},{"code_sha256_prefix":"422ccaf97ebcd18f","entry":"split_bn_bias","repo":"LittlePey/TASeg","repo_kind":"official","path":"pcseg/optim/fastai_optim.py","file_url":"https://github.com/LittlePey/TASeg/blob/HEAD/pcseg/optim/fastai_optim.py","link_basis":"first_harvest_node","language":"python","status":"ran","verification_level":1,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"Apache-2.0","inline_ok":true,"mcp_get_code":{"code_sha256":"422ccaf97ebcd18f"}},{"code_sha256_prefix":"ea9c7bcb55c7fd48","entry":"dice_loss","repo":"LittlePey/TASeg","repo_kind":"official","path":"pcseg/loss/ell_loss.py","file_url":"https://github.com/LittlePey/TASeg/blob/HEAD/pcseg/loss/ell_loss.py","link_basis":"first_harvest_node","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"Apache-2.0","inline_ok":true,"mcp_get_code":{"code_sha256":"ea9c7bcb55c7fd48"}}]},"arxiv_metadata":null,"syntology_extracted_results":null}