Xu, Shuangjie, Rui Wan, Maosheng Ye, Xiaoyi Zou, and Tongyi Cao. “Sparse Cross-Scale Attention Network for Efficient LiDAR Panoptic Segmentation”. Proceedings of the AAAI Conference on Artificial Intelligence 36, no. 3 (June 28, 2022): 2920–2928. Accessed May 30, 2026. https://ojs.aaai.org/index.php/AAAI/article/view/20197.