Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Fast Synthetic LiDAR Rendering via Spherical UV Unwrapping of
  Equirectangular Z-Buffer Images   LiDAR data is becoming increasingly essential with the rise of autonomous
vehicles. Its ability to provide 360deg horizontal field of view of point
cloud, equips self-driving vehicles with enhanced situational awareness
capabilities. While synthetic LiDAR data generation pipelines provide a good
solution to advance the machine learning research on LiDAR, they do suffer from
a major shortcoming, which is rendering time. Physically accurate LiDAR
simulators (e.g. Blensor) are computationally expensive with an average
rendering time of 14-60 seconds per frame for urban scenes. This is often
compensated for via using 3D models with simplified polygon topology (low poly
assets) as is the case of CARLA (Dosovitskiy et al., 2017). However, this comes
at the price of having coarse grained unrealistic LiDAR point clouds. In this
paper, we present a novel method to simulate LiDAR point cloud with faster
rendering time of 1 sec per frame. The proposed method relies on spherical UV
unwrapping of Equirectangular Z-Buffer images. We chose Blensor (Gschwandtner
et al., 2011) as the baseline method to compare the point clouds generated
using the proposed method. The reported error for complex urban landscapes is
4.28cm for a scanning range between 2-120 meters with Velodyne HDL64-E2
parameters. The proposed method reported a total time per frame to 3.2 +/- 0.31
seconds per frame. In contrast, the BlenSor baseline method reported 16.2 +/-
1.82 seconds.

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The categories of this paper are: acc-phys
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The categories of this paper are: cmp-lg
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The categories of this paper are: comp-gas
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The categories of this paper are: stat
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The categories of this paper are: mtrl-th
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The categories of this paper are: supr-con
3
The categories of this paper are: physics
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The categories of this paper are: chao-dyn
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The categories of this paper are: plasm-ph
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The categories of this paper are: math-ph
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The categories of this paper are: econ
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The categories of this paper are: dg-ga
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The categories of this paper are: cond-mat
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The categories of this paper are: hep-lat
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The categories of this paper are: hep-ph
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The categories of this paper are: astro-ph