Related papers: LiDPM: Rethinking Point Diffusion for Lidar Scene …
Diffusion models have been applied to 3D LiDAR scene completion due to their strong training stability and high completion quality. However, the slow sampling speed limits the practical application of diffusion-based scene completion models…
Computer vision techniques play a central role in the perception stack of autonomous vehicles. Such methods are employed to perceive the vehicle surroundings given sensor data. 3D LiDAR sensors are commonly used to collect sparse 3D point…
In autonomous driving scenarios, the collected LiDAR point clouds can be challenged by occlusion and long-range sparsity, limiting the perception of autonomous driving systems. Scene completion methods can infer the missing parts of…
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…
The application of diffusion models in 3D LiDAR scene completion is limited due to diffusion's slow sampling speed. Score distillation accelerates diffusion sampling but with performance degradation, while post-training with direct policy…
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…
Diffusion Probabilistic Models (DPMs) have been recently utilized to deal with various blind image restoration (IR) tasks, where they have demonstrated outstanding performance in terms of perceptual quality. However, the task-specific…
Point cloud completion aims to recover the complete 3D shape of an object from partial observations. While approaches relying on synthetic shape priors achieved promising results in this domain, their applicability and generalizability to…
Denoising Diffusion Probabilistic Models (DDPMs) can generate high-quality samples such as image and audio samples. However, DDPMs require hundreds to thousands of iterations to produce final samples. Several prior works have successfully…
Commercial RGB-D cameras often produce noisy, incomplete depth maps for non-Lambertian objects. Traditional depth completion methods struggle to generalize due to the limited diversity and scale of training data. Recent advances exploit…
Autonomous vehicles (AVs) are expected to revolutionize transportation by improving efficiency and safety. Their success relies on 3D vision systems that effectively sense the environment and detect traffic agents. Among sensors AVs use to…
3D LiDAR scene completion from point clouds is a fundamental component of perception systems in autonomous vehicles. Previous methods have predominantly employed diffusion models for high-fidelity reconstruction. However, their multi-step…
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…
Accurate 3D scene understanding in outdoor environments heavily relies on high-quality point clouds. However, LiDAR-scanned data often suffer from extreme sparsity, severely hindering downstream 3D perception tasks. Existing point cloud…
Semantic scene completion is the task of jointly estimating 3D geometry and semantics of objects and surfaces within a given extent. This is a particularly challenging task on real-world data that is sparse and occluded. We propose a scene…
Latent diffusion models (LDMs) have demonstrated remarkable generative capabilities across various low-level vision tasks. However, their potential for point cloud completion remains underexplored due to the unstructured and irregular…
Perception systems play a crucial role in autonomous driving, incorporating multiple sensors and corresponding computer vision algorithms. 3D LiDAR sensors are widely used to capture sparse point clouds of the vehicle's surroundings.…
The Diffusion Probabilistic Model (DPM) has recently gained popularity in the field of computer vision, thanks to its image generation applications, such as Imagen, Latent Diffusion Models, and Stable Diffusion, which have demonstrated…
The search for refining 3D LiDAR data has attracted growing interest motivated by recent techniques such as supervised learning or generative model-based methods. Existing approaches have shown the possibilities for using diffusion models…
Diffusion models demonstrate impressive image generation performance with text guidance. Inspired by the learning process of diffusion, existing images can be edited according to text by DDIM inversion. However, the vanilla DDIM inversion…