Web: http://arxiv.org/abs/2209.10986

Sept. 23, 2022, 1:14 a.m. | Benoit Guillard, Sai Vemprala, Jayesh K. Gupta, Ondrej Miksik, Vibhav Vineet, Pascal Fua, Ashish Kapoor

cs.CV updates on arXiv.org arxiv.org

Simulating realistic sensors is a challenging part in data generation for
autonomous systems, often involving carefully handcrafted sensor design, scene
properties, and physics modeling. To alleviate this, we introduce a pipeline
for data-driven simulation of a realistic LiDAR sensor. We propose a model that
learns a mapping between RGB images and corresponding LiDAR features such as
raydrop or per-point intensities directly from real datasets. We show that our
model can learn to encode realistic effects such as dropped points on …


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