SurfelGAN: Synthesizing Realistic Sensor Data for Autonomous Driving

June 2020

tl;dr: Drive once, build, and traverse multiple times to generate new data.

Overall impression

Use GAN to bridge the gap of surfel baseline, which is usually with gaps and edges.

Surfel is “surface element,” analogous to a “voxel” (volume element) or a “pixel” (picture element).

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

Key ideas

Technical details