@article{frnetfrustumrangenetworksforscalable,
  title = {FRNet: Frustum-Range Networks for Scalable LiDAR Segmentation},
  author = {Xiang Xu and Lingdong Kong and Hui Shuai and Qingshan Liu},
  year = {2023},
  eprint = {2312.04484},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2312.04484v3},
}