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RangeLDM: Fast Realistic LiDAR Point Cloud Generation

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Computer Vision – ECCV 2024 (ECCV 2024)

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Abstract

Autonomous driving demands high-quality LiDAR data, yet the cost of physical LiDAR sensors presents a significant scaling-up challenge. While recent efforts have explored deep generative models to address this issue, they often consume substantial computational resources with slow generation speeds while suffering from a lack of realism. To address these limitations, we introduce RangeLDM, a novel approach for rapidly generating high-quality range-view LiDAR point clouds via latent diffusion models. We achieve this by correcting range-view data distribution for accurate projection from point clouds to range images via Hough voting, which has a critical impact on generative learning. We then compress the range images into a latent space with a variational autoencoder, and leverage a diffusion model to enhance expressivity. Additionally, we instruct the model to preserve 3D structural fidelity by devising a range-guided discriminator. Experimental results on KITTI-360 and nuScenes datasets demonstrate both the robust expressiveness and fast speed of our LiDAR point cloud generation.

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Notes

  1. 1.

    Without causing ambiguity, the point clouds are converted to range images by default.

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  1. Wangxuan Institute of Computer Technology, Peking University, Beijing, China

    Qianjiang Hu, Zhimin Zhang & Wei Hu

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  1. Qianjiang Hu
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  2. Zhimin Zhang
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  3. Wei Hu
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Correspondence to Wei Hu .

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Editors and Affiliations

  1. University of Birmingham, Birmingham, UK

    Aleš Leonardis

  2. University of Trento, Trento, Italy

    Elisa Ricci

  3. Technical University of Darmstadt, Darmstadt, Hessen, Germany

    Stefan Roth

  4. Princeton University, Palo Alto, CA, USA

    Olga Russakovsky

  5. Czech Technical University in Prague, Prague, Czech Republic

    Torsten Sattler

  6. École des Ponts ParisTech, Marne-la-Vallée, France

    Gül Varol

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Hu, Q., Zhang, Z., Hu, W. (2025). RangeLDM: Fast Realistic LiDAR Point Cloud Generation. In: Leonardis, A., Ricci, E., Roth, S., Russakovsky, O., Sattler, T., Varol, G. (eds) Computer Vision – ECCV 2024. ECCV 2024. Lecture Notes in Computer Science, vol 15102. Springer, Cham. https://doi.org/10.1007/978-3-031-72784-9_7

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