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Problem Definition
nSemantic segmentation task for FW data
• Input: point (x, y, z) and waveform
⁃ ∈ ℝ!×#, $ = $, $, $, $ , $ ∈ ℝ#
‣ K: #points, M: x, y, z and length of waveform
• Output: segmentation result
⁃ ∈ ℝ!×&, $ = $,', $,(, ⋯ , $,& , $ ∈ ℝ&
‣ K: #points, C: #classes
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Our model predict segmentation results
from input points and waveforms.
Input Output