TULIP: Transformer for Upsampling of LiDAR Point Cloud

arXiv:2312.06733v3 Announce Type: replace
Abstract: LiDAR Upsampling is a challenging task for the perception systems of robots and autonomous vehicles, due to the sparse and irregular structure of large-scale scene contexts. Recent works propose to solve this problem by converting LiDAR data from 3D Euclidean space into an image super-resolution problem in 2D image space. Although their methods can generate high-resolution range images with fine-grained details, the resulting 3D point clouds often blur out details and predict invalid points. In …

abstract arxiv autonomous autonomous vehicles cloud cs.cv data image lidar perception resolution robots scale solve space systems transformer type vehicles