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Online semantic 3D segmentation in company with realtime RGB-D reconstruction poses special challenges such as how to perform 3D convolution directly over the progressively fused 3D geometric data, and how to smartly fuse information from frame to frame. We propose a novel fusionaware 3D point convolution which operates directly on the geometric surface being reconstructed and exploits effectively the inter-frame correlation for high quality 3D feature learning. This is enabled by a dedicateddoi:10.1109/cvpr42600.2020.00459 dblp:conf/cvpr/Zhang0Z020 fatcat:rbxi2zfr3vfijhi27v6hdvpb6u