用RGB和激光雷达联合建模，实现复杂场景的逼真重光照与动态渲染。
InvRGB+L: Inverse Rendering of Complex Scenes with Unified Color and LiDAR Reflectance Modeling
- 融合激光雷达强度与可见光信息，提升材质估计精度。
- 在城市和室内场景中实现高保真重光照与夜间模拟效果。
- 适合需要真实感三维重建的自动驾驶与数字孪生应用。
我们提出InvRGB+L，一种新型逆向渲染模型，可从单个RGB+LiDAR序列重建大型、可重光照且动态的场景。传统逆图形方法主要依赖RGB观测，仅将LiDAR用于几何信息，常因可见光干扰导致材质估计不佳。我们发现，激光雷达在不同波段主动照明下获取的强度值，能提供互补线索，增强复杂光照下的材质估计鲁棒性。受此启发，InvRGB+L通过两项关键创新克服了以RGB为中心的逆向图形固有挑战：(1) 基于物理的新型激光雷达阴影模型；(2) RGB-LiDAR材质一致性损失。该模型可生成城市与室内场景的新视角RGB与激光雷达渲染图像，支持重光照、夜间模拟及动态物体插入，在场景级城市逆向渲染与激光雷达仿真方面均超越当前最先进方法。
原文摘要 · Abstract (English)
We present InvRGB+L, a novel inverse rendering model that reconstructs large, relightable, and dynamic scenes from a single RGB+LiDAR sequence. Conventional inverse graphics methods rely primarily on RGB observations and use LiDAR mainly for geometric information, often resulting in suboptimal material estimates due to visible light interference. We find that LiDAR's intensity values-captured with active illumination in a different spectral range-offer complementary cues for robust material estimation under variable lighting. Inspired by this, InvRGB+L leverages LiDAR intensity cues to overcome challenges inherent in RGB-centric inverse graphics through two key innovations: (1) a novel physics-based LiDAR shading model and (2) RGB-LiDAR material consistency losses. The model produces novel-view RGB and LiDAR renderings of urban and indoor scenes and supports relighting, night simulations, and dynamic object insertions, achieving results that surpass current state-of-the-art methods in both scene-level urban inverse rendering and LiDAR simulation.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。