RPVNet: A Deep and Efficient Range-Point-Voxel Fusion Network for LiDAR
             Point Cloud Segmentation
                Jianyun Xu1 * Ruixiang Zhang1,2 * Jian Dou1 Yushi Zhu1
                         Jie Sun1 Shiliang Pu1
                  1
                   Hikvision Research Institute 2 Zhejiang University
    {xujianyun, zhangruixiang7, doujian, zhuyushi, sunjie, pushiliang.hri}@hikvision.com

                Abstract
  Point clouds can be represented in many forms (views),
typically ...