GLiDR: Topologically Regularized Graph Generative Network for Sparse LiDAR Point Clouds

arXiv:2312.00068v2 Announce Type: replace-cross
Abstract: Sparse LiDAR point clouds cause severe loss of detail of static structures and reduce the density of static points available for navigation. Reduced density can be detrimental to navigation under several scenarios. We observe that despite high sparsity, in most cases, the global topology of LiDAR outlining the static structures can be inferred. We utilize this property to obtain a backbone skeleton of a LiDAR scan in the form of a single connected component that …

arxiv cs.cv cs.ro generative graph lidar network type