相关论文: Taming Transformers for Realistic Lidar Point Clou…

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…

Autonomous driving demands high-quality LiDAR data, yet the cost of physical LiDAR sensors presents a significant scaling-up challenge. While recent efforts have explored deep generative models to address this issue, they often consume…

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…

Building LiDAR generative models holds promise as powerful data priors for restoration, scene manipulation, and scalable simulation in autonomous mobile robots. In recent years, approaches using diffusion models have emerged, significantly…

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…

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…

LiDAR-based semantic segmentation is a key component for autonomous mobile robots, yet large-scale annotation of LiDAR point clouds is prohibitively expensive and time-consuming. Although simulators can provide labeled synthetic data,…

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…

In the visual generative area, discrete diffusion models are gaining traction for their efficiency and compatibility. However, pioneered attempts still fall behind their continuous counterparts, which we attribute to noise (absorbing state)…

Diffusion models with their powerful expressivity and high sample quality have achieved State-Of-The-Art (SOTA) performance in the generative domain. The pioneering Vision Transformer (ViT) has also demonstrated strong modeling capabilities…

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…

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…

LiDAR scene generation is critical for mitigating real-world LiDAR data collection costs and enhancing the robustness of downstream perception tasks in autonomous driving. However, existing methods commonly struggle to capture geometric…

Diffusion models have become the dominant approach for visual generation. They are trained by denoising a Markovian process which gradually adds noise to the input. We argue that the Markovian property limits the model's ability to fully…

Building models capable of generating structured output is a key challenge for AI and robotics. While generative models have been explored on many types of data, little work has been done on synthesizing lidar scans, which play a key role…

3D laser scanning by LiDAR sensors plays an important role for mobile robots to understand their surroundings. Nevertheless, not all systems have high resolution and accuracy due to hardware limitations, weather conditions, and so on.…

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…

We provide an overview of the diffusion model as a method to generate new samples. Generative models have been recently adopted for tasks such as art generation (Stable Diffusion, Dall-E) and text generation (ChatGPT). Diffusion models in…

We present JointDiT, a diffusion transformer that models the joint distribution of RGB and depth. By leveraging the architectural benefit and outstanding image prior of the state-of-the-art diffusion transformer, JointDiT not only generates…

Recent advances in image generation have led to remarkable improvements in synthesizing perspective images. However, these models still struggle with panoramic image generation due to unique challenges, including varying levels of geometric…