UrbanTwin: Building High-Fidelity Digital Twins for Sim2Real LiDAR Perception and Evaluation
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arXiv
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| Autori principali: | , |
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| Natura: | Preprint |
| Pubblicazione: |
2025
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| author | Shahbaz, Muhammad Agarwal, Shaurya |
| author_facet | Shahbaz, Muhammad Agarwal, Shaurya |
| contents | LiDAR-based perception in intelligent transportation systems (ITS) relies on deep neural networks trained with large-scale labeled datasets. However, creating such datasets is expensive, time-consuming, and labor-intensive, limiting the scalability of perception systems. Sim2Real learning offers a scalable alternative, but its success depends on the simulation's fidelity to real-world environments, dynamics, and sensors. This tutorial introduces a reproducible workflow for building high-fidelity digital twins (HiFi DTs) to generate realistic synthetic datasets. We outline practical steps for modeling static geometry, road infrastructure, and dynamic traffic using open-source resources such as satellite imagery, OpenStreetMap, and sensor specifications. The resulting environments support scalable and cost-effective data generation for robust Sim2Real learning. Using this workflow, we have released three synthetic LiDAR datasets, namely UT-LUMPI, UT-V2X-Real, and UT-TUMTraf-I, which closely replicate real locations and outperform real-data-trained baselines in perception tasks. This guide enables broader adoption of HiFi DTs in ITS research and deployment. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2509_02903 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | UrbanTwin: Building High-Fidelity Digital Twins for Sim2Real LiDAR Perception and Evaluation Shahbaz, Muhammad Agarwal, Shaurya Computer Vision and Pattern Recognition LiDAR-based perception in intelligent transportation systems (ITS) relies on deep neural networks trained with large-scale labeled datasets. However, creating such datasets is expensive, time-consuming, and labor-intensive, limiting the scalability of perception systems. Sim2Real learning offers a scalable alternative, but its success depends on the simulation's fidelity to real-world environments, dynamics, and sensors. This tutorial introduces a reproducible workflow for building high-fidelity digital twins (HiFi DTs) to generate realistic synthetic datasets. We outline practical steps for modeling static geometry, road infrastructure, and dynamic traffic using open-source resources such as satellite imagery, OpenStreetMap, and sensor specifications. The resulting environments support scalable and cost-effective data generation for robust Sim2Real learning. Using this workflow, we have released three synthetic LiDAR datasets, namely UT-LUMPI, UT-V2X-Real, and UT-TUMTraf-I, which closely replicate real locations and outperform real-data-trained baselines in perception tasks. This guide enables broader adoption of HiFi DTs in ITS research and deployment. |
| title | UrbanTwin: Building High-Fidelity Digital Twins for Sim2Real LiDAR Perception and Evaluation |
| topic | Computer Vision and Pattern Recognition |
| url | https://arxiv.org/abs/2509.02903 |