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Published at December 3

Fast LiDAR Data Generation with Rectified Flows

cs.CV

cs.RO

Released Date: December 3, 2024

Authors: Kazuto Nakashima¹, Xiaowen Liu¹, Tomoya Miyawaki¹, Yumi Iwashita², Ryo Kurazume¹

Aff.: ¹Kyushu University; ²California Institute of Technology

Arxiv: http://arxiv.org/pdf/2412.02241v1

Refer to caption

(a) LiDM [6] + APE	(b) R2DM [4]	(c) R2Flow (ours)

Feature-space iteration	Pixel-space iteration	Pixel-space iteration
273M params	31M params	81M params


NFE = 200	NFE = 256	NFE = 256
(3.7 s)	(3.7 s)	(7.6 s)

NFE = 2	NFE = 2	NFE = 2
(38 ms)	(56 ms)	(62 ms)