https://openaccess.thecvf.com/content/ICCV2023/papers/Robert_Efficient_3D_Semantic_Segmentation_with_Superpoint_Transformer_ICCV_2023_paper.pdfAbstract We introduce a novel superpoint-based transformer architecture for efficient semantic segmentation of large-scale 3D scenes. Our method incorporates a fast algorithm to partition point clouds into a hierarchical superpoint structure, which makes ..