Published December 25, 2023 | Version v1
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Contrastive Learning-Based Framework for Sim-to-Real Mapping of Lidar Point Clouds in Autonomous Driving Systems

  • 1. ROR icon University of Warwick
  • 2. ROR icon Queen's University Belfast


Perception sensor models are essential elements of automotive simulation environments; they also serve as powerful tools for creating synthetic datasets to train deep learning-based perception models. Developing realistic perception sensor models poses a significant challenge due to the large gap between simulated sensor data and real-world sensor outputs, known as the sim-to-real gap. To address this problem, learning-based models have emerged as promising solutions in recent years, with unparalleled potential to map low-fidelity simulated sensor data into highly realistic outputs. Motivated by this potential, this paper focuses on sim-to-real mapping of Lidar point clouds, a widely used perception sensor in automated driving systems. We introduce a novel Contrastive-Learning-based Sim-to-Real mapping framework, namely CLS2R, inspired by the recent advancements in image-to-image translation techniques. The proposed CLS2R framework employs a lossless representation of Lidar point clouds, considering all essential Lidar attributes such as depth, reflectance, and raydrop. We extensively evaluate the proposed framework, comparing it with state-of-the-art image-to-image translation methods using a diverse range of metrics to assess realness, faithfulness, and the impact on the performance of a downstream task. Our results show that CLS2R demonstrates superior performance across nearly all metrics.



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Hi-Drive – Addressing challenges toward the deployment of higher automation 101006664
European Commission