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

Previously, non-autoregressive models were widely perceived as being superior in generation efficiency but inferior in generation quality due to the difficulties of modeling multiple target modalities. To enhance the multi-modality modeling…

We introduce R2LDM, an innovative approach for generating dense and accurate 4D radar point clouds, guided by corresponding LiDAR point clouds. Instead of utilizing range images or bird's eye view (BEV) images, we represent both LiDAR and…

Keypoint detection and description play a pivotal role in various robotics and autonomous applications including visual odometry (VO), visual navigation, and Simultaneous localization and mapping (SLAM). While a myriad of keypoint detectors…

Conventional class-guided diffusion models generally succeed in generating images with correct semantic content, but often struggle with texture details. This limitation stems from the usage of class priors, which only provide coarse and…

The denoising process of diffusion models can be interpreted as an approximate projection of noisy samples onto the data manifold. Moreover, the noise level in these samples approximates their distance to the underlying manifold. Building…

Latent-space modeling has been the standard for Diffusion Transformers (DiTs). However, it relies on a two-stage pipeline where the pretrained autoencoder introduces lossy reconstruction, leading to error accumulation while hindering joint…

Generative foundation models contain broad visual knowledge and can produce diverse image variations, making them particularly promising for advancing domain generalization tasks. They can be used for training data augmentation, but…

A considerable amount of research is concerned with the generation of realistic sensor data. LiDAR point clouds are generated by complex simulations or learned generative models. The generated data is usually exploited to enable or improve…

Diffusion Transformer (DiT), an emerging diffusion model for image generation, has demonstrated superior performance but suffers from substantial computational costs. Our investigations reveal that these costs stem from the static inference…

We present LiDAR-EDIT, a novel paradigm for generating synthetic LiDAR data for autonomous driving. Our framework edits real-world LiDAR scans by introducing new object layouts while preserving the realism of the background environment.…

By enabling capturing of 3D point clouds that reflect the geometry of the immediate environment, LiDAR has emerged as a primary sensor for autonomous systems. If a LiDAR scan is too sparse, occluded by obstacles, or too small in range,…

Automotive radar has shown promising developments in environment perception due to its cost-effectiveness and robustness in adverse weather conditions. However, the limited availability of annotated radar data poses a significant challenge…

Diffusion models are widely used for generative tasks across domains. Given a pre-trained diffusion model, it is often desirable to fine-tune it further either to correct for errors in learning or to align with downstream applications.…

Several recent studies have attempted to autoregressively generate continuous speech representations without discrete speech tokens by combining diffusion and autoregressive models, yet they often face challenges with excessive…

We introduce GeoDiT, a diffusion transformer designed for text-to-satellite image generation with point-based control. Existing controlled satellite image generative models often require pixel-level maps that are time-consuming to acquire,…

Current video deblurring methods have limitations in recovering high-frequency information since the regression losses are conservative with high-frequency details. Since Diffusion Models (DMs) have strong capabilities in generating…

LiDAR-based 3D object detectors have been largely utilized in various applications, including autonomous vehicles or mobile robots. However, LiDAR-based detectors often fail to adapt well to target domains with different sensor…

Diffusion Transformers (DiTs) with billions of model parameters form the backbone of popular image and video generation models like DALL.E, Stable-Diffusion and SORA. Though these models are necessary in many low-latency applications like…

Diffusion models are widely recognized for their ability to generate high-fidelity images. Despite the excellent performance and scalability of the Diffusion Transformer (DiT) architecture, it applies fixed compression across different…

Capturing High Dynamic Range (HDR) scenery using 8-bit cameras often suffers from over-/underexposure, loss of fine details due to low bit-depth compression, skewed color distributions, and strong noise in dark areas. Traditional LDR image…