Scaling Diffusion Models to Real-World 3D LiDAR Scene Completion

Understand

Computer vision techniques play a central role in the perception stack of autonomous vehicles.

• Such methods are employed to perceive the vehicle surroundings given sensor data.
• 3D LiDAR sensors are commonly used to collect sparse 3D point clouds from the scene.
• However, compared to human perception, such systems struggle to deduce the unseen parts of the scene given those sparse point clouds.