MarS3D: A Plug-and-Play Motion-Aware Model for Semantic Segmentation on
  Multi-Scan 3D Point Clouds
Jiahui Liu Chirui Chang Jianhui Liu Xiaoyang Wu Lan Ma Xiaojuan Qi
3D semantic segmentation on multi-scan large-scale point clouds plays an
important role in autonomous systems. Unlike the single-scan-based semantic
segmentation task, this task requires distinguishing the motion states of
points in addition to their semantic categories. However, methods designed for
single-scan-based segmentation tasks perform poorly on the multi-scan task due
to the lacking of an effective way to integrate temporal information. We
propose MarS3D, a plug-and-play motion-aware module for semantic segmentation
on multi-scan 3D point clouds. This module can be flexibly combined with
single-scan models to allow them to have multi-scan perception abilities. The
model encompasses two key designs: the Cross-Frame Feature Embedding module for
enriching representation learning and the Motion-Aware Feature Learning module
for enhancing motion awareness. Extensive experiments show that MarS3D can
improve the performance of the baseline model by a large margin. The code is
available at https://github.com/CVMI-Lab/MarS3D.