相关论文: Learning to Generate Realistic LiDAR Point Clouds

Generative models have proven effective at modeling 3D shapes and their statistical variations. In this paper we investigate their application to point clouds, a 3D shape representation widely used in computer vision for which, however,…

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…

Data is a fundamental building block for LiDAR perception systems. Unfortunately, real-world data collection and annotation is extremely costly & laborious. Recently, real data based LiDAR simulators have shown tremendous potential to…

Generating 3D point clouds is challenging yet highly desired. This work presents a novel autoregressive model, PointGrow, which can generate diverse and realistic point cloud samples from scratch or conditioned on semantic contexts. This…

Generative world models for autonomous driving (AD) have become a trending topic. Unlike the widely studied image modality, in this work we explore generative world models for LiDAR data. Existing generation methods for LiDAR data only…

The generation of realistic LiDAR point clouds plays a crucial role in the development and evaluation of autonomous driving systems. Although recent methods for 3D LiDAR point cloud generation have shown significant improvements, they still…

To realize low-latency spatial transmission system for immersive telepresence, there are two major problems: capturing dynamic 3D scene densely and processing them in real time. LiDAR sensors capture 3D in real time, but produce sparce…

Judging the quality of samples synthesized by generative models can be tedious and time consuming, especially for complex data structures, such as point clouds. This paper presents a novel approach to quantify the realism of local regions…

Conventional methods of 3D object generative modeling learn volumetric predictions using deep networks with 3D convolutional operations, which are direct analogies to classical 2D ones. However, these methods are computationally wasteful in…

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 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…

Collider data generation with machine learning has become increasingly popular in particle physics due to the high computational cost of conventional Monte Carlo simulations, particularly for future high-luminosity colliders. We propose 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…

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…

Diffusion Models (DMs) have achieved State-Of-The-Art (SOTA) results in the Lidar point cloud generation task, benefiting from their stable training and iterative refinement during sampling. However, DMs often fail to realistically model…

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…

LiDAR sensors play an important role in the perception stack of modern autonomous driving systems. Adverse weather conditions such as rain, fog and dust, as well as some (occasional) LiDAR hardware fault may cause the LiDAR to produce…

In High Energy Physics, detailed and time-consuming simulations are used for particle interactions with detectors. To bypass these simulations with a generative model, the generation of large point clouds in a short time is required, while…

Although LiDAR sensors are crucial for autonomous systems due to providing precise depth information, they struggle with capturing fine object details, especially at a distance, due to sparse and non-uniform data. Recent advances introduced…

We tackle the problem of producing realistic simulations of LiDAR point clouds, the sensor of preference for most self-driving vehicles. We argue that, by leveraging real data, we can simulate the complex world more realistically compared…