4D Panoptic LiDAR Segmentation

instances semantics semantics semantic segmentation panoptic segmentation multi-object tracking 4D panoptic segmentation Figure 1: Types of LiDAR-based scene understanding. Semantic and panoptic segmentation assign semantic classes and determine instances in 3D space. Multi-object tracking encompasses 3D object detection in space, followed by association over time. 4D panoptic LiDAR segmentation jointly tackles semantic and instance segmentation in 3D space over time.