@inproceedings{nie2021rfdnet,
      title={RfD-Net: Point Scene Understanding by Semantic Instance Reconstruction}, 
      author={Yinyu Nie and Ji Hou and Xiaoguang Han and Matthias Nie\{ss}ner},
	booktitle={Proc. Computer Vision and Pattern Recognition (CVPR), IEEE},
	year={2021}
}