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3D spatial information is known to be beneficial to the semantic segmentation task. Most existing methods take 3D spatial data as an additional input, leading to a two-stream segmentation network that processes RGB and 3D spatial information separately. This solution greatly increases the inference time and severely limits its scope for real-time applications. To solve this problem, we propose Spatial information guided Convolution (S-Conv), which allows efficient RGB feature and 3D spatial information integration. S-Conv is competent to infer the sampling offset of the convolution kernel guided by the 3D spatial information, helping the convolutional layer adjust the receptive field and adapt to geometric transformations. S-Conv also incorporates geometric information into the feature learning process by generating spatially adaptive convolutional weights. The capability of perceiving geometry is largely enhanced …