Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: SalsaNext: Fast, Uncertainty-aware Semantic Segmentation of LiDAR Point
  Clouds for Autonomous Driving   In this paper, we introduce SalsaNext for the uncertainty-aware semantic
segmentation of a full 3D LiDAR point cloud in real-time. SalsaNext is the next
version of SalsaNet [1] which has an encoder-decoder architecture where the
encoder unit has a set of ResNet blocks and the decoder part combines upsampled
features from the residual blocks. In contrast to SalsaNet, we introduce a new
context module, replace the ResNet encoder blocks with a new residual dilated
convolution stack with gradually increasing receptive fields and add the
pixel-shuffle layer in the decoder. Additionally, we switch from stride
convolution to average pooling and also apply central dropout treatment. To
directly optimize the Jaccard index, we further combine the weighted
cross-entropy loss with Lovasz-Softmax loss [2]. We finally inject a Bayesian
treatment to compute the epistemic and aleatoric uncertainties for each point
in the cloud. We provide a thorough quantitative evaluation on the
Semantic-KITTI dataset [3], which demonstrates that the proposed SalsaNext
outperforms other state-of-the-art semantic segmentation networks and ranks
first on the Semantic-KITTI leaderboard. We also release our source code
https://github.com/TiagoCortinhal/SalsaNext.

23
The categories of this paper are: solv-int
10
The categories of this paper are: q-bio
9
The categories of this paper are: nlin
12
The categories of this paper are: nucl-th
3
The categories of this paper are: physics
28
The categories of this paper are: alg-geom
22
The categories of this paper are: chao-dyn
15
The categories of this paper are: nucl-ex
34
The categories of this paper are: chem-ph
21
The categories of this paper are: adap-org
0
The categories of this paper are: hep-ph
29
The categories of this paper are: funct-an
4
The categories of this paper are: cond-mat
7
The categories of this paper are: hep-th
17
The categories of this paper are: q-fin
13
The categories of this paper are: quant-ph