Towards Realistic Scene Generation with LiDAR Diffusion Models
Abstract
Diffusion models (DMs) excel in photorealistic 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 patterns and 3D geometry of LiDAR scenes, which consumes much of their representation power. In this paper, we propose LiDAR Diffusion Models (LiDMs) to generate LiDAR-realistic scenes from a latent space tailored to capture the realism of LiDAR scenes by incorporating geometric priors into the learning pipeline. Our method targets three major desiderata: pattern realism, geometry realism, and object realism. Specifically, we introduce curve-wise compression to simulate real-world LiDAR patterns, point-wise coordinate supervision to learn scene geometry, and patch-wise encoding for a full 3D object context. With these three core designs, our method achieves competitive performance on unconditional LiDAR generation in 64-beam scenario and state of the art on conditional LiDAR generation, while maintaining high efficiency compared to point-based DMs (up to 107× faster). Further-more, by compressing LiDAR scenes into a latent space, we enable the controllability of DMs with various conditions such as semantic maps, camera views, and text prompts. Our code and pretrained weights are available at htt ps: //github.com/hancyran/LiDAR-Diffusion.
Read the paper
Related studies
- Learning from First-Generation Qualitative Approaches in the IS Discipline: An Evolutionary View and Some Implications for Authors and Evaluators (PART 1/2)
- Commentary on the clinical and preclinical dosage limits of interstitially administered magnetic fluids for therapeutic hyperthermia based on current practice and efficacy models
- Prosthesis: New Technological Opportunities and Innovative Biomedical Devices
- The history and future of neural modeling for cochlear implants
- Ryanodine receptors: waking up from refractoriness
- Novel Transgenic Rabbit Model Sheds Light on the Puzzling Role of Matrix Metalloproteinase-12 in Atherosclerosis
Go deeper in Evidence Hub
Evidence Hub adds a study data sheet (design, sample size, evidence level, key numbers), an AI summary and a chat grounded in the paper's text.