The paper presents a solution for the UCF UrbanTwin LUMPI Track in the Sim-to-Real LiDAR Challenge, where a detector trained solely on synthetic data must perform on real LiDAR frames. The approach tackles the Sim2Real gap through data alignment, diversified sampling, augmentation, and specialized detectors, followed by class-aware fusion and calibration techniques. The final submission achieved a Combined Score of 0.4692, a Detection Score of 0.1797, a Realism Score of 0.9035, and a 3D mAP@0.5 of 0.1258.
We present our solution to the LUMPI track of the UCF UrbanTwin Sim2Real LiDAR Challenge at the 6th DriveX Workshop, ECCV 2026. The detector must be trained only on synthetic data and is evaluated on...
arXiv:2608. 07579v1 Announce Type: cross Abstract: The AI City Challenge 2026 Track 1 evaluates multi-camera 3D perception in large indoor warehouses under a synthetic-to-real (Sim2Real) setting; depth is available only for training and validation, so inference is RGB-only.
Recent advancements in LiDAR-only 3D object detection have demonstrated improved detection accuracy over benchmark datasets. However, the adversarial robustness of these models remains untested.
SimFuse3D tackles cross‑platform LiDAR unsupervised domain adaptation by addressing box‑point inconsistency through source‑guided target simulation and confidence‑guided multi‑stage localization reweighting. It preserves target placement, repairs pseudo‑objects using labeled source geometry, and reweights predictions based on confidence, all during adaptation without altering the detector architecture. The method outperforms existing adaptation techniques across six cross‑platform transfers and ranks first on nuScenes‑to‑KITTI for both evaluated detectors.
arXiv:2404.09431v3 Announce Type: replace Abstract: Pseudo-LiDAR has become a promising paradigm for monocular 3D object detection by transforming monocular images into point cloud representations th...
arXiv:2506. 22784v2 Announce Type: replace-cross Abstract: Point-pixel registration between LiDAR point clouds and camera images is a fundamental yet challenging task in autonomous driving and robotic perception.
arXiv:2607. 26645v1 Announce Type: cross Abstract: Existing point-based generative methods for outdoor scenes primarily focus on LiDAR-conditioned completion.
arXiv:2510. 21112v3 Announce Type: replace-cross Abstract: High-definition 3D city maps enable city planning and change detection, which is essential for municipal compliance, map maintenance, and asset monitoring, including both built structures and urban greenery.
DRS‑VPT is a feed‑forward transformer that performs image‑to‑scan registration by predicting the scan pose, point maps, and a coarse‑to‑fine feature pyramid for direct reprojective alignment. It unifies tasks like camera‑LiDAR calibration and indoor camera‑to‑map relocalization, achieving state‑of‑the‑art results in autonomous driving and competitive performance indoors without map‑specific training. The model also learns complex scan‑to‑image projection behaviors, such as occlusion of back‑facing points.
arXiv:2606. 09634v1 Announce Type: cross Abstract: 3D object detection is the backbone of perception for automated vehicles (AV) and broader intelligent transportation systems applications.
GEM is a Generative LiDAR world model that uses a deformable Mamba architecture to better handle the disorder of LiDAR point clouds and distinguish dynamic objects from static structures. The model tokenizes LiDAR sweeps, unsupervisedly disentangles dynamic and static features, and applies a tri‑path deformable Mamba for selective scanning and adaptive gating fusion, improving spatial‑temporal understanding. Experiments show GEM outperforms existing methods across multiple benchmarks, and it can be paired with a planner and BEV controller for autonomous rollout and "what‑if" scenario generation.
3D object detection is the backbone of perception for automated vehicles (AV) and broader intelligent transportation systems applications. Long-range detection is challenging because sensing evidence is sparse; yet this ``long-range'' scenario is routine in traffic.