# A Preprocessing and Postprocessing Voxel-based Method for LiDAR Semantic Segmentation Improvement in Long Distance Source: [A Preprocessing and Postprocessing Voxel-based Method for LiDAR Semantic Segmentation Improvement in Long Distance]() Collection index: [llms.txt]() Data updated: 2026-01-16T05:00:04.566Z Authors: Andrea Matteazzi, Pascal Colling, Michael Arnold, Dietmar Tutsch Published: 2024-05-16T12:32:34.000Z ## Abstract In recent years considerable research in LiDAR semantic segmentation was conducted, introducing several new state of the art models. However, most research focuses on single-scan point clouds, limiting performance especially in long distance outdoor scenarios, by omitting time-sequential information. Moreover, varying-density and occlusions constitute significant challenges in single-scan approaches. In this paper we propose a LiDAR point cloud preprocessing and postprocessing method. This multi-stage approach, in conjunction with state of the art models in a multi-scan setting, aims to solve those challenges. We demonstrate the benefits of our method through quantitative evaluation with the given models in single-scan settings. In particular, we achieve significant improvements in mIoU performance of over 5 percentage point in medium range and over 10 percentage point in far range. This is essential for 3D semantic scene understanding in long distance as well as for applications where offline processing is permissible. ## Recorded benchmark results A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage. ## Original sources and implementation [Original paper]() [PDF]()