NIDAR: NIR-Guided Intrinsic Decomposition for Scalable Scene-Agnostic LiDAR Intensity Reconstruction

arXiv:2609.36878 · cs.RO · Submitted 2026-09-29 · Read on arXiv

cs.RO

Submitted: 2026-09-29

Updated: 2026-09-29

Comments: 9 pages, 8 figures. Accepted by IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2026

Project page: https://nidar-web.github.io

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Calibration — 19× in this paper · explained in 7 episodes
• Fidelity — 5× in this paper · explained in 2 episodes
• Point Clouds — 5× in this paper · explained in 2 episodes
• Ablation — 4× in this paper · explained in 1 episode
• Diffusion Model — 4× in this paper · explained in 8 episodes
• Diffusion Models — 4× in this paper · explained in 6 episodes
• Benchmark — 3× in this paper · explained in 2 episodes
• International Conference on Robotics and Automation — 3× in this paper
• 3D Gaussian Splatting — 2× in this paper · explained in 2 episodes
• Accuracy — 2× in this paper · explained in 1 episode
• Adam — 2× in this paper · explained in 2 episodes
• Adaptation — 2× in this paper · explained in 1 episode
• Domain Adaptation — 2× in this paper · explained in 5 episodes
• Feed-forward framework — 2× in this paper · explained in 2 episodes
• Fine-Tuning — 2× in this paper · explained in 5 episodes
• Gaussian Splatting — 2× in this paper · explained in 4 episodes
• Robustness — 2× in this paper · explained in 5 episodes
• Ablation Studies — 1× in this paper · explained in 1 episode
• Absolute Trajectory Error — 1× in this paper
• Core — 1× in this paper · explained in 2 episodes
• Generative Model — 1× in this paper · explained in 2 episodes
• Generative Models — 1× in this paper · explained in 2 episodes
• Latent Representation — 1× in this paper · explained in 2 episodes
• Multimodal Dataset — 1× in this paper · explained in 2 episodes
• Sim-to-Real Gap — 1× in this paper · explained in 6 episodes
• Spectral Gap — 1× in this paper · explained in 5 episodes
• Spectral Translation Network — 1× in this paper
• Variational Bayes — 1× in this paper · explained in 2 episodes

Sources

• Ultra-Fusion: A Resilient Tightly-Coupled Multi-Sensor Fusion SLAM Framework under Sensor Degradation and Spatiotemporal Perturbation for Intelligent Transportation Systems
• PCGen: Point Cloud Generator for LiDAR Simulation
• Rethinking Atrous Convolution for Semantic Image Segmentation

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