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Rank 1st in the leaderboard of SemanticKITTI semantic segmentation (both single-scan and multi-scan) (Nov. 2020) (CVPR2021 Oral)

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data normalization

chky1997 opened this issue · comments

commented

Hi, I notice that local coordinates of voxels and reflectivity are usually smaller than 1 in the n*9 point features, while the raw x and y range from 0 to 80. Is it necessary to do some data normalization?