[9] QI R C,SU H,MO K,et al.PointNet:deep learning on point sets for 3D classification and segmentation［C］//IEEE Conference on Computer Vision and Pattern Recognition(CVPR).Honolulu,HI:IEEE,2017.doi:10.1109/CVPR.2017.16.

[12] SU H,JAMPANI V,SUN D Q,et al.SPLATNet:sparse lattice networks for point cloud processing［C］//IEEE Conference on Computer Vision and Pattern Recognition(CVPR).Salt Lake City,UT:IEEE,2018.doi:10.1109/CVPR.2018.00268.

[14] XU C F,WU B C,WANG Z N,et al.SqueezeSegV3:spatially-adaptive convolution for efficient point-cloud segmentation［C］//European Conference on Computer Vision(ECCV).Cham:Springer,2020.doi:10.1007/978-3-030-58604-1_1.