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DESIGN.md

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Study on Design of LiDAR Compression

All the following experiments are conducted with 4 NVIDIA 3090 GPUs on KITTI-360 (64-beam).

Tip: Download the video instead of watching it with the Google Drive's built-in video player provides a better visualization.

Autoencoders (trained with 40k steps, evaluated on reconstruction):

Curvewise
Factor		 Patchwise
Factor		 Output
Size		 rFRID(↓) rFSVD(↓) rFPVD(↓) CD(↓) EMD(↓) #Params (M) Directory Visualization of Reconstruction (val)
N/A N/A Ground Truth - - - - - - - Range Image, Point Cloud
4 1 64x256x2 0.2 12.9 13.8 0.069 0.151 9.52 Google Drive Range Image, Point Cloud
8 1 64x128x3 0.9 21.2 17.4 0.141 0.230 10.76 Google Drive Range Image, Point Cloud
16 1 64x64x4 2.8 31.1 23.9 0.220 0.265 12.43 Google Drive Range Image, Point Cloud
32 1 64x32x8 16.4 49.0 38.5 0.438 0.344 13.72 Google Drive Range Image, Point Cloud
1 2 32x512x2 1.5 25.0 23.8 0.096 0.178 2.87 Google Drive Range Image, Point Cloud
1 4 16x256x4 0.6 15.4 15.8 0.142 0.233 12.45 Google Drive Range Image, Point Cloud
1 8 8x128x16 17.7 35.7 33.1 0.384 0.327 15.78 Google Drive Range Image, Point Cloud
1 16 4x64x64 37.1 68.7 63.9 0.699 0.416 16.25 Google Drive Range Image, Point Cloud
2 2 32x256x3 0.4 11.2 12.2 0.094 0.199 13.09 Google Drive Range Image, Point Cloud
4 2 32x128x4 3.9 19.6 16.6 0.197 0.236 14.35 Google Drive Range Image, Point Cloud
8 2 32x64x8 8.0 25.3 20.2 0.277 0.294 16.06 Google Drive Range Image, Point Cloud
16 2 32x32x16 21.5 54.2 44.6 0.491 0.371 17.44 Google Drive Range Image, Point Cloud
2 4 16x128x8 2.5 16.9 15.8 0.205 0.273 15.07 Google Drive Range Image, Point Cloud
4 4 16x128x16 13.8 29.5 25.4 0.341 0.317 16.86 Google Drive Range Image, Point Cloud

LiDMs (trained with 10k steps, evaluated on generation):

Curvewise
Factor		 Patchwise
Factor		 Output
Size		 FRID(↓) FSVD(↓) FPVD(↓) JSD(↓) MMD(10$^-4$,↓) Directory
N/A N/A Ground Truth - - - - -
4 1 64x256x2 271 148 118 0.262 5.33 Google Drive
8 1 64x128x3 162 85 68 0.234 5.03 Google Drive
16 1 64x64x4 142 116 106 0.232 5.15 Google Drive
1 2 32x512x2 205 154 132 0.248 6.15 Google Drive
1 4 16x256x4 180 60 55 0.230 5.34 Google Drive
1 8 8x128x16 192 88 78 0.243 5.14 Google Drive
2 2 32x256x3 161 73 63 0.228 5.44 Google Drive
4 2 32x128x4 145 77 68 0.222 5.10 Google Drive
8 2 32x64x8 188 83 71 0.228 5.33 Google Drive
2 4 16x128x8 162 56 49 0.228 4.82 Google Drive
4 4 16x128x16 195 80 70 0.240 5.84 Google Drive

LiDM Performance with Different Scaling Factors: