PaperReading

LiDARsim: Realistic LiDAR Simulation by Leveraging the Real World

June 2020

tl;dr: Generate a map, then place bank of cars on it to create synthetic scenes.

Overall impression

Lidar sim is similar to surfel GAN in generating synthetic dataset with real data collection.

• surfel GAN generates a photorealistic model
• lidar sim focuses on lidar data simulation, which is somewhat easier.

It can allow closed-loop evaluation of the whole AD stack.

Key ideas

• Simulate ray drop patterns with U-Net structure
• Minimum sim2real domain gap.

Technical details

• Chart showing the diversity of cars on the road

Notes

• Questions and notes on how to improve/revise the current work