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Data Partitioning Schemes. We represent commonly used partitioning: a SalsaNeXt [12] uses range images, b PolarNet [48] uses a bird-eye-view polar partition, c SPVNAS [43] uses a classic regular 3D grid, d Cylinder3D [51] uses a cylinder grid. Grids not to scale.

Data Partitioning Schemes. We represent commonly used partitioning: a SalsaNeXt [12] uses range images, b PolarNet [48] uses a bird-eye-view polar partition, c SPVNAS [43] uses a classic regular 3D grid, d Cylinder3D [51] uses a cylinder grid. Grids not to scale.

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Roof-mounted spinning LiDAR sensors are widely used by autonomous vehicles, driving the need for real-time processing of 3D point sequences. However, most LiDAR semantic segmentation datasets and algorithms split these acquisitions into $360^\circ$ frames, leading to acquisition latency that is incompatible with realistic real-time applications and...

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