arXiv:2606. 20189v1 Announce Type: cross Abstract: Leveraging Vision Foundation Models (VFMs) for camera-to-LiDAR knowledge distillation offers a promising solution to the scarcity of annotated data needed to represent the immense geometric and kinematic diversity of real-world autonomous driving (AD).
arXiv:2606. 20189v3 Announce Type: replace-cross Abstract: Leveraging Vision Foundation Models (VFMs) for camera-to-LiDAR knowledge distillation offers a promising solution to the scarcity of annotated data needed to represent the immense geometric and kinematic diversity of real-world autonomous driving (AD).
arXiv:2609.24825v1 Announce Type: new Abstract: LiDAR point clouds acquired in underground environments exhibit severe geometric incompleteness due to occlusions and limited sensor viewpoints, making...
arXiv:2608.28895v1 Announce Type: new Abstract: We introduce ReconSplat, a feed-forward model for 3D scene reconstruction that aims to address the longstanding trade-off between plausible view genera...
arXiv:2609.10322v1 Announce Type: new Abstract: Transferring the rich priors of large 2D foundation models to sparse 3D LiDAR remains challenging, as training native 3D foundation models at comparabl...
LiDAR point clouds acquired in underground environments exhibit severe geometric incompleteness due to occlusions and limited sensor viewpoints, making reliable point cloud completion challenging with...
arXiv:2607. 26645v1 Announce Type: cross Abstract: Existing point-based generative methods for outdoor scenes primarily focus on LiDAR-conditioned completion.
The paper introduces Generative Semantic Scene Completion (GSSC), a framework that recasts outdoor LiDAR semantic scene completion as a discrete diffusion process. It comprises three components: (1) paired sparse‑dense scene synthesis (PS³) to generate synthetic training data, (2) semantic‑guided generative scene completion (SGSC) that generates scenes from noise conditioned on sparse scans, and (3) structured source discrete diffusion (S²D²) that refines existing completions in a single flow‑matching step. Using this approach, the authors achieve state‑of‑the‑art performance on the SemanticKITTI benchmark, reaching 38.8% mIoU in a single‑sweep, single‑sample setting and 39.2% with limited augmentation.
The paper introduces SPAR3S, a sparse voxel‑aligned 3D latent generative model that completes 3D scenes from sparse, unconstrained multi‑view images. By representing only occupied voxels in a compact latent space and training a masked autoregressive transformer with photometric supervision via differentiable 3D Gaussian Splatting, the method predicts missing latent tokens and spatial support, enabling efficient and spatially consistent generation of unseen regions. Experiments on synthetic indoor scenes and RealEstate10k demonstrate higher novel‑view quality and real‑world applicability compared to prior work.
LaGen is an autoregressive framework that generates long‑horizon LiDAR scenes frame by frame, using a single‑frame input and bounding‑box conditions to produce high‑fidelity 4D scenes. It introduces a scene decoupling estimation module for better object‑level interaction and a noise modulation module to reduce error accumulation over time. Evaluations on the nuScenes dataset show that LaGen outperforms existing methods, especially on later frames.
The paper introduces SPAR3S, a sparse voxel‑aligned 3D latent generative model that completes 3D scenes from sparse, unconstrained multi‑view images. It learns a compact voxel‑aligned latent space using photometric supervision via differentiable 3D Gaussian Splatting, and employs a masked autoregressive transformer to predict missing voxel occupancy and latent tokens. Experiments on synthetic indoor scenes and RealEstate10k show that SPAR3S achieves higher novel‑view quality than prior methods and generalizes to real‑world data.
Metric scale monocular geometry estimation has seen significant progress through large-scale data aggregation, yet current foundation models suffer from a persistent ''scale-collapse'' phenomenon: distant landmarks and vast landscapes are metrically underestimated. We hypothesize that this performance gap stems from a training data bottleneck, where existing metric-scale datasets are hardware-constrained to homogenous vehicle-captured LiDAR or short-range indoor scans, or consist of synthetic data that lacks the semantic complexity of the physical world.