“…With the availability of RGB-D sensors, we have made progress on tasks like [16,17,27,40], 3D instance segmentation [11,14,15,22,26,54] and 3D object detection [35,41,59] which work on indoor scenes. Similarly, the accessibility to modern LiDAR sensors has made it possible to work with outdoor 3D scenes, where again recent works have targeted the tasks of 3D object detection [43,44,53,55], semantic segmentation [33,47,57,61], panoptic segmentation [5,21,34,60] and multi-object tracking [3,12,50,56]. Perceiving outdoor 3D environments from LiDAR data is particularly relevant for robotics and autonomous driving applications, and hence has gained significant traction in the recent past.…”