{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/tulip-transformer-for-upsampling-of-lidar","title":"TULIP: Transformer for Upsampling of LiDAR Point Clouds","arxiv_id":"2312.06733","date":"2023-12-11","proceeding":"CVPR 2024 1","authors":["Bin Yang","Patrick Pfreundschuh","Roland Siegwart","Marco Hutter","Peyman Moghadam","Vaishakh Patil"],"abstract":"LiDAR Upsampling is a challenging task for the perception systems of robots and autonomous vehicles, due to the sparse and irregular structure of large-scale scene contexts. Recent works propose to solve this problem by converting LiDAR data from 3D Euclidean space into an image super-resolution problem in 2D image space. Although their methods can generate high-resolution range images with fine-grained details, the resulting 3D point clouds often blur out details and predict invalid points. In this paper, we propose TULIP, a new method to reconstruct high-resolution LiDAR point clouds from low-resolution LiDAR input. We also follow a range image-based approach but specifically modify the patch and window geometries of a Swin-Transformer-based network to better fit the characteristics of range images. We conducted several experiments on three public real-world and simulated datasets. TULIP outperforms state-of-the-art methods in all relevant metrics and generates robust and more realistic point clouds than prior works.","url_abs":"https://arxiv.org/abs/2312.06733v4","url_pdf":"https://arxiv.org/pdf/2312.06733v4.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"tulip-transformer-for-upsampling-of-lidar","repo_url":"https://github.com/ethz-asl/tulip","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"pytorch","reach":{"status":"ok","spdx":"MIT"}}],"tasks":[{"task_slug":"autonomous-vehicles","task_name":"Autonomous Vehicles"},{"task_slug":"image-super-resolution","task_name":"Image Super-Resolution"},{"task_slug":"super-resolution","task_name":"Super-Resolution"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=2312.06733","mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}