Related papers: A Realism Metric for Generated LiDAR Point Clouds

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…

Lidar point cloud synthesis based on generative models offers a promising solution to augment deep learning pipelines, particularly when real-world data is scarce or lacks diversity. By enabling flexible object manipulation, this synthesis…

Static LiDAR scanners produce accurate, dense, colored point clouds, but often contain obtrusive artifacts which makes them ill-suited for direct display. We propose an efficient method to render photorealistic images of such scans without…

Capturing real-world 3D spaces as point clouds is efficient and descriptive, but it comes with sensor errors and lacks object parametrization. These limitations render point clouds unsuitable for various real-world applications, such as…

4D millimeter wave radars (4D radars) are new emerging sensors that provide point clouds of objects with both position and radial velocity measurements. Compared to LiDARs, they are more affordable and reliable sensors for robots'…

Training models to high-end performance requires availability of large labeled datasets, which are expensive to get. The goal of our work is to automatically synthesize labeled datasets that are relevant for a downstream task. We propose…

Owing to the typical long-tail data distribution issues, simulating domain-gap-free synthetic data is crucial in robotics, photogrammetry, and computer vision research. The fundamental challenge pertains to credibly measuring the difference…

This paper presents a simulation workflow for generating synthetic LiDAR datasets to support autonomous vehicle perception, robotics research, and sensor security analysis. Leveraging the CoppeliaSim simulation environment and its Python…

LiDAR sensors are an integral part of modern autonomous vehicles as they provide an accurate, high-resolution 3D representation of the vehicle's surroundings. However, it is computationally difficult to make use of the ever-increasing…

Novel deep-learning (DL) architectures have reached a level where they can generate digital media, including photorealistic images, that are difficult to distinguish from real data. These technologies have already been used to generate…

We propose a method that augments a simulated dataset using diffusion models to improve the performance of pedestrian detection in real-world data. The high cost of collecting and annotating data in the real-world has motivated the use of…

Training autonomous driving and navigation systems requires large and diverse point cloud datasets that capture complex edge case scenarios from various dynamic urban settings. Acquiring such diverse scenarios from real-world point cloud…

Keypoint detection and description play a pivotal role in various robotics and autonomous applications including visual odometry (VO), visual navigation, and Simultaneous localization and mapping (SLAM). While a myriad of keypoint detectors…

In Autonomous Driving (AD), detection and tracking of obstacles on the roads is a critical task. Deep-learning based methods using annotated LiDAR data have been the most widely adopted approach for this. Unfortunately, annotating 3D point…

Semantic segmentation of 3D LiDAR point clouds is important in urban remote sensing for understanding real-world street environments. This task, by projecting LiDAR point clouds and 3D semantic labels as sparse maps, can be reformulated as…

We present LiDAR-EDIT, a novel paradigm for generating synthetic LiDAR data for autonomous driving. Our framework edits real-world LiDAR scans by introducing new object layouts while preserving the realism of the background environment.…

Recent advancements in lidar technology have led to improved point cloud resolution as well as the generation of 360 degrees, low-resolution images by encoding depth, reflectivity, or near-infrared light within each pixel. These images…

A 3D point cloud is often synthesized from depth measurements collected by sensors at different viewpoints. The acquired measurements are typically both coarse in precision and corrupted by noise. To improve quality, previous works denoise…

As 3D point clouds become a cornerstone of modern technology, the need for sophisticated generative models and reliable evaluation metrics has grown exponentially. In this work, we first expose that some commonly used metrics for evaluating…

In recent years, the fusion of camera data with LiDAR measurements has emerged as a powerful approach to enhance spatial understanding. This study introduces a novel, hardware-agnostic methodology that generates colourised point clouds from…