Related papers: Fast LiDAR Upsampling using Conditional Diffusion …

Synthesizing extrapolated views remains a difficult task, especially in urban driving scenes, where the only reliable sources of data are limited RGB captures and sparse LiDAR points. To address this problem, we present PointmapDiff, a…

Automated vehicles require an accurate perception of their surroundings for safe and efficient driving. Lidar-based object detection is a widely used method for environment perception, but its performance is significantly affected by…

In recent years considerable research in LiDAR semantic segmentation was conducted, introducing several new state of the art models. However, most research focuses on single-scan point clouds, limiting performance especially in long…

This paper presents a new approach to boost a single-modality (LiDAR) 3D object detector by teaching it to simulate features and responses that follow a multi-modality (LiDAR-image) detector. The approach needs LiDAR-image data only when…

Diffusion models have been used in cosmological applications as a generative model for fast simulations and to reconstruct underlying cosmological fields or astrophysical images from noisy data. These two tasks are often treated as…

Diffusion models have demonstrated exceptional capabilities in generating high-fidelity images but typically suffer from inefficient sampling. Many solver designs and noise scheduling strategies have been proposed to dramatically improve…

We propose a unified diffusion model-based correction and super-resolution method to enhance the fidelity and resolution of diverse low-quality data through a two-step pipeline. First, the correction step employs a novel enhanced stochastic…

Generative diffusion models have shown empirical successes in point cloud resampling, generating a denser and more uniform distribution of points from sparse or noisy 3D point clouds by progressively refining noise into structure. However,…

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…

LiDAR sensors provide rich 3D information about their surrounding{s} and are becoming increasingly important for autonomous vehicles tasks such as {localization}, semantic segmentation, object detection, and tracking. {Simulation}…

Real-time light detection and ranging (LiDAR) perceptions, e.g., 3D object detection and simultaneous localization and mapping are computationally intensive to mobile devices of limited resources and often offloaded on the edge. Offloading…

This study aims to improve photon counting CT (PCCT) image resolution using denoising diffusion probabilistic models (DDPM). Although DDPMs have shown superior performance when applied to various computer vision tasks, their effectiveness…

We show that cascaded diffusion models are capable of generating high fidelity images on the class-conditional ImageNet generation benchmark, without any assistance from auxiliary image classifiers to boost sample quality. A cascaded…

Object detection and semantic segmentation with the 3D lidar point cloud data require expensive annotation. We propose a data augmentation method that takes advantage of already annotated data multiple times. We propose an augmentation…

LiDAR-based place recognition serves as a crucial enabler for long-term autonomy in robotics and autonomous driving systems. Yet, prevailing methodologies relying on handcrafted feature extraction face dual challenges: (1) Inconsistent…

In this paper, we introduce a novel 3D-aware image generation method that leverages 2D diffusion models. We formulate the 3D-aware image generation task as multiview 2D image set generation, and further to a sequential…

Diffusion models have gained attention for their ability to represent complex distributions and incorporate uncertainty, making them ideal for robust predictions in the presence of noisy or incomplete data. In this study, we develop and…

Denoising diffusion models show remarkable performances in generative tasks, and their potential applications in perception tasks are gaining interest. In this paper, we introduce a novel framework named DiffRef3D which adopts the diffusion…

Video outpainting aims to adequately complete missing areas at the edges of video frames. Compared to image outpainting, it presents an additional challenge as the model should maintain the temporal consistency of the filled area. In this…

Given the rapid development of 3D scanners, point clouds are becoming popular in AI-driven machines. However, point cloud data is inherently sparse and irregular, causing significant difficulties for machine perception. In this work, we…