LiDAR Resolution Recovery via Foundation-Model-Guided Diffusion
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·来源: HuggingFace Papers
High-beam-count LiDAR sensors are costly, yet many perception pipelines require dense angular sampling. Using a pretrained Stable Diffusion model as the backbone, we fine-tune a LiDAR-conditioned depth model with pseudo-depth targets from a 2D foundation model. During training, the LiDAR conditioning is randomly decimated at different beam budgets....
High-beam-count LiDAR sensors are costly, yet many perception pipelines require dense angular sampling. Using a pretrained Stable Diffusion model as the backbone, we fine-tune a LiDAR-conditioned depth model with pseudo-depth targets from a 2D foundation model. During training, the LiDAR conditioning is randomly decimated at different beam budgets....
High-beam-count LiDAR sensors are costly, yet many perception pipelines require dense angular sampling. Using a pretrained Stable Diffusion model as the backbone, we fine-tune a LiDAR-conditioned depth model with pseudo-depth targets from a 2D foundation model. During training, the LiDAR conditioning is randomly decimated at different beam budgets....