Related papers: Learning to Drop Points for LiDAR Scan Synthesis

3D LiDAR sensors are indispensable for the robust vision of autonomous mobile robots. However, deploying LiDAR-based perception algorithms often fails due to a domain gap from the training environment, such as inconsistent angular…

Building models capable of generating structured output is a key challenge for AI and robotics. While generative models have been explored on many types of data, little work has been done on synthesizing lidar scans, which play a key role…

Generative modeling of 3D LiDAR data is an emerging task with promising applications for autonomous mobile robots, such as scalable simulation, scene manipulation, and sparse-to-dense completion of LiDAR point clouds. While existing…

By enabling capturing of 3D point clouds that reflect the geometry of the immediate environment, LiDAR has emerged as a primary sensor for autonomous systems. If a LiDAR scan is too sparse, occluded by obstacles, or too small in range,…

Integrated sensing and communications is a key enabler for the 6G wireless communication systems. The multiple sensing modalities will allow the base station to have a more accurate representation of the environment, leading to…

3D LiDAR scanners are playing an increasingly important role in autonomous driving as they can generate depth information of the environment. However, creating large 3D LiDAR point cloud datasets with point-level labels requires a…

Diffusion models (DMs) excel in photo-realistic image synthesis, but their adaptation to LiDAR scene generation poses a substantial hurdle. This is primarily because DMs operating in the point space struggle to preserve the curve-like…

We present LiDARGen, a novel, effective, and controllable generative model that produces realistic LiDAR point cloud sensory readings. Our method leverages the powerful score-matching energy-based model and formulates the point cloud…

Simulating realistic sensors is a challenging part in data generation for autonomous systems, often involving carefully handcrafted sensor design, scene properties, and physics modeling. To alleviate this, we introduce a pipeline for…

While generative world models have advanced video and occupancy-based data synthesis, LiDAR generation remains underexplored despite its importance for accurate 3D perception. Extending generation to 4D LiDAR data introduces challenges in…

A considerable amount of research is concerned with the generation of realistic sensor data. LiDAR point clouds are generated by complex simulations or learned generative models. The generated data is usually exploited to enable or improve…

This paper presents a generative adversarial network (GAN) based approach for radar image enhancement. Although radar sensors remain robust for operations under adverse weather conditions, their application in autonomous vehicles (AVs) is…

LiDAR provides accurate geometric measurements of the 3D world. Unfortunately, dense LiDARs are very expensive and the point clouds captured by low-beam LiDAR are often sparse. To address these issues, we present UltraLiDAR, a data-driven…

Recent deep networks have achieved good performance on a variety of 3d points classification tasks. However, these models often face challenges in "wild tasks".There are considerable differences between the labeled training/source data…

We examined the feasibility of generative adversarial networks (GANs) to generate photo-realistic images from LiDAR point clouds. For this purpose, we created a dataset of point cloud image pairs and trained the GAN to predict…

3D LiDAR point cloud data is crucial for scene perception in computer vision, robotics, and autonomous driving. Geometric and semantic scene understanding, involving 3D point clouds, is essential for advancing autonomous driving…

We present LidarDM, a novel LiDAR generative model capable of producing realistic, layout-aware, physically plausible, and temporally coherent LiDAR videos. LidarDM stands out with two unprecedented capabilities in LiDAR generative…

Generative world models have become essential data engines for autonomous driving, yet most existing efforts focus on videos or occupancy grids, overlooking the unique LiDAR properties. Extending LiDAR generation to dynamic 4D world…

In this paper, we propose the LiDAR Distillation to bridge the domain gap induced by different LiDAR beams for 3D object detection. In many real-world applications, the LiDAR points used by mass-produced robots and vehicles usually have…

LIDAR semantic segmentation, which assigns a semantic label to each 3D point measured by the LIDAR, is becoming an essential task for many robotic applications such as autonomous driving. Fast and efficient semantic segmentation methods are…