@article{s3net3dlidarsparsesemanticsegmentation,
  title = {S3Net: 3D LiDAR Sparse Semantic Segmentation Network},
  author = {Ran Cheng and Ryan Razani and Yuan Ren and Liu Bingbing},
  year = {2021},
  eprint = {2103.08745},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2103.08745v1},
}