相关论文: A Unified Generative Framework for Realistic Lidar…

Perception sensors, particularly camera and Lidar, are key elements of Autonomous Driving Systems (ADS) that enable them to comprehend their surroundings to informed driving and control decisions. Therefore, developing realistic simulation…

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…

Realistic vehicle sensor simulation is an important element in developing autonomous driving. As physics-based implementations of visual sensors like LiDAR are complex in practice, data-based approaches promise solutions. Using pairs of…

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 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…

In the autonomous driving domain, data collection and annotation from real vehicles are expensive and sometimes unsafe. Simulators are often used for data augmentation, which requires realistic sensor models that are hard to formulate and…

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…

Reliable LiDAR perception requires robustness across sensors, environments, and adverse weather. However, existing datasets rarely provide physically consistent observations of the same scene under varying sensor configurations and weather…

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…

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…

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…

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…

Data scarcity is a bottleneck to machine learning-based perception modules, usually tackled by augmenting real data with synthetic data from simulators. Realistic models of the vehicle perception sensors are hard to formulate in closed…

Over the past few years, there has been remarkable progress in research on 3D point clouds and their use in autonomous driving scenarios has become widespread. However, deep learning methods heavily rely on annotated data and often face…

There are two critical sensors for 3D perception in autonomous driving, the camera and the LiDAR. The camera provides rich semantic information such as color, texture, and the LiDAR reflects the 3D shape and locations of surrounding…

LiDAR scene generation is increasingly important for scalable simulation and synthetic data creation, especially under diverse sensing conditions that are costly to capture at scale. Typically, diffusion-based LiDAR generators are developed…

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…

Labeling LiDAR point clouds for training autonomous driving is extremely expensive and difficult. LiDAR simulation aims at generating realistic LiDAR data with labels for training and verifying self-driving algorithms more efficiently.…

Point cloud data from 3D LiDAR sensors are one of the most crucial sensor modalities for versatile safety-critical applications such as self-driving vehicles. Since the annotations of point cloud data is an expensive and time-consuming…

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…