In the field of autonomous driving, sensor simulation is essential for generating rare and diverse scenarios that are difficult to capture in real-world environments. Current solutions fall into two categories: 1) CG-based methods, such as CARLA, which lack diversity and struggle to scale to the vast array of rare cases required for robust perception training; and 2) learning-based approaches, such as NeuSim, which are limited to specific object categories (vehicles) and require extensive multi-sensor data, hindering their applicability to generic objects. To address these limitations, we propose a scalable real2sim2real system that leverages 3D generation to automate asset mining, generation, and rare-case data synthesis.
@article{arxiv.2509.06798,
title = {SynthDrive: Scalable Real2Sim2Real Sensor Simulation Pipeline for High-Fidelity Asset Generation and Driving Data Synthesis},
author = {Zhengqing Chen and Ruohong Mei and Xiaoyang Guo and Qingjie Wang and Yubin Hu and Wei Yin and Weiqiang Ren and Qian Zhang},
journal= {arXiv preprint arXiv:2509.06798},
year = {2025}
}