@article{sphericalfrustumsparseconvolutionnetwork,
  title = {Spherical Frustum Sparse Convolution Network for LiDAR Point Cloud Semantic Segmentation},
  author = {Yu Zheng and Guangming Wang and Jiuming Liu and Marc Pollefeys and Hesheng Wang},
  year = {2023},
  eprint = {2311.17491},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2311.17491v2},
}