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arXiv · 2610.08620

LiDAR Resolution Recovery via Foundation-Model-Guided Diffusion

Samed Doğan·Nico Leuze·Alfred Schöttl
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Abstract

High-beam-count LiDAR sensors are costly, yet many perception pipelines require dense angular sampling. Using a pretrained Stable Diffusion model as the backbone, we fine-tune a LiDAR-conditioned depth model with pseudo-depth targets from a 2D foundation model. During training, the LiDAR conditioning is randomly decimated at different beam budgets. We then investigate how much of a LiDAR scan can be recovered from heavily decimated input and characterize performance across the input beam budget. We evaluate against physically held-out real beams on nuScenes and report recovery separately from fit accuracy. Our model yields its largest advantage in very sparse regimes, achieving a $δ_{1.25}$ accuracy of $66.8$% from $4$-beam input where scattered interpolation reaches only $45.1$%. A class-stratified error breakdown further reveals that planar surfaces recover first while objects introducing depth discontinuities degrade earliest. Together, these results quantify the recovery/resolution trade-off for foundation-model-guided LiDAR enhancement.

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Samed Doğan, Nico Leuze, Alfred Schöttl. 2026-10-06. LiDAR Resolution Recovery via Foundation-Model-Guided Diffusion. https://arxiv.org/abs/2610.08620

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