L-DIG: A GAN-Based Method for LiDAR Point Cloud Processing under Snow Driving Conditions

Abstract

LiDAR point clouds are significantly impacted by snow in driving scenarios, introducing scattered noise points and phantom objects, thereby compromising the perception capabilities of autonomous driving systems. Current effective methods for removing snow from point clouds largely rely on outlier filters, which mechanically eliminate isolated points. This research proposes a novel translation model for LiDAR point clouds, the ‘L-DIG’ (LiDAR depth images GAN), built upon refined generative adversarial networks (GANs). This model not only has the capacity to reduce snow noise from point clouds, but it also can artificially synthesize snow points onto clear data. The model is trained using depth image representations of point clouds derived from unpaired datasets, complemented by customized loss functions for depth images to ensure scale and structure consistencies. To amplify the efficacy of snow capture, particularly in the region surrounding the ego vehicle, we have developed a pixel-attention discriminator that operates without downsampling convolutional layers. Concurrently, the other discriminator equipped with two-step downsampling convolutional layers has been engineered to effectively handle snow clusters. This dual-discriminator approach ensures robust and comprehensive performance in tackling diverse snow conditions. The proposed model displays a superior ability to capture snow and object features within LiDAR point clouds. A 3D clustering algorithm is employed to adaptively evaluate different levels of snow conditions, including scattered snowfall and snow swirls. Experimental findings demonstrate an evident de-snowing effect, and the ability to synthesize snow effects.