Enhancing the Reliability of LiDAR Point Cloud Sampling : A Colorization and Super-Resolution Approach Based on LiDAR-Generated Images

Abstract

In recent years, Light Detection and Ranging (LiDAR) technology, a critical sensor in robotics and autonomous systems, has seen significant advancements. These improvements include enhanced resolution of point clouds and the capability to provide 360°, low-resolution images. These images encode various data such as depth, reflectivity, and near-infrared light within the pixels. However, an excessive density of points and conventional point cloud sampling can be counterproductive, particularly in applications such as LiDAR odometry, where misleading points may induce drift errors and geometry information is degraded. Currently, extensive research efforts are being directed towards leveraging LiDAR-generated images to improve situational awareness.

This paper presents a comprehensive review of current deep learning (DL) techniques, including colorization and super-resolution, which are traditionally utilized in conventional computer vision tasks. These techniques are applied to LiDAR-generated images and are analyzed qualitatively. Building on this analysis, we have developed a novel approach that selectively integrates the most effective methods with LiDAR imagery to sample reliable points from the LiDAR point cloud. This approach aims to not only improve the accuracy of point cloud registration but avoid mismatching caused by lacking of geometry information, thereby augmenting the utility and precision of LiDAR systems in practical applications. In our evaluation, the proposed approach demonstrates superior performance compared to our previous work, achieving lower translation and rotation errors with a reduced number of points.