Paying attention for adjacent areas: Learning discriminative features for large-scale 3D scene segmentation

•We propose an ARmodule which contains two novel attention blocks:large-scale support spatial attention the extended channel attention. (N∼105)..•We propose two loss functions to solve the intra-class inconsistency and inter-class indistinction for long-tailed distribution of 3D scenes.•The proposed ARNet integrates AR module and loss functions in an end-to-end manner, which achieves the SOTA results on indoor and outdoor datasets.