Question about the implement of the lidar segmentation task

[YuanxianH]

Thank you for your awesome contributions. Recently I've been trying to apply your work in lidar segmentation tasks. My question is how you generate the lidar segmentation result from the voxel output?

As you mentioned in your paper, i.e., "We transfer semantic occupancy prediction to LiDAR segmentation by assigning the point label based on associated voxel label, and then evaluate the model on the mIoU metric.", did you assign the labels of points by its located voxel directly? Or did you use some interpolation strategies? Such as, trilinear interpolation on the voxel logits like OccFormer.

Besides, did you train the networks again with sparse labeled voxels as supervision signal, which is generated by the sparse lidar segmentation ground truth?