MOVES: Movable and moving LiDAR scene segmentation in label-free settings using static reconstruction

Prashant Kumar, Dhruv Makwana, Onkar Susladkar, Anurag Mittal, Prem Kumar Kalra

Abstract: Highlights•Accurate background static structures prediction and segmentation of dynamic objects in the absence of segmentation labels.•Replace dynamic objects and occlusions with precise background static structures and segment uncertain movable objects and moving objects accurately.•A Novel GAN with a contrastive paired discriminator trained using smartly selected LiDAR triplets with Hard Negative Mining.