Taming Transformers for Realistic Lidar Point Cloud Generation
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arXiv
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| Autores principales: | , , , , |
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| Formato: | Preprint |
| Publicado: |
2024
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| Acceso en línea: | |
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| _version_ | 1866911830656417792 |
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| author | Haghighi, Hamed Samadi, Amir Dianati, Mehrdad Donzella, Valentina Debattista, Kurt |
| author_facet | Haghighi, Hamed Samadi, Amir Dianati, Mehrdad Donzella, Valentina Debattista, Kurt |
| contents | 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 Lidar raydrop noise due to their inherent denoising process. To retain the strength of iterative sampling while enhancing the generation of raydrop noise, we introduce LidarGRIT, a generative model that uses auto-regressive transformers to iteratively sample the range images in the latent space rather than image space. Furthermore, LidarGRIT utilises VQ-VAE to separately decode range images and raydrop masks. Our results show that LidarGRIT achieves superior performance compared to SOTA models on KITTI-360 and KITTI odometry datasets. Code available at:https://github.com/hamedhaghighi/LidarGRIT. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2404_05505 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Taming Transformers for Realistic Lidar Point Cloud Generation Haghighi, Hamed Samadi, Amir Dianati, Mehrdad Donzella, Valentina Debattista, Kurt Computer Vision and Pattern Recognition Machine Learning Robotics 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 Lidar raydrop noise due to their inherent denoising process. To retain the strength of iterative sampling while enhancing the generation of raydrop noise, we introduce LidarGRIT, a generative model that uses auto-regressive transformers to iteratively sample the range images in the latent space rather than image space. Furthermore, LidarGRIT utilises VQ-VAE to separately decode range images and raydrop masks. Our results show that LidarGRIT achieves superior performance compared to SOTA models on KITTI-360 and KITTI odometry datasets. Code available at:https://github.com/hamedhaghighi/LidarGRIT. |
| title | Taming Transformers for Realistic Lidar Point Cloud Generation |
| topic | Computer Vision and Pattern Recognition Machine Learning Robotics |
| url | https://arxiv.org/abs/2404.05505 |