TT-OGM projects 3D LiDAR scans to 2D, estimates pose with GICP, and uses a GAN trained on undisclosed synthetic data to clean occupancy grids, claiming superior map quality on a single large building.
Correction by Projection: Denoising Images with Generative Adversarial Networks
1 Pith paper cite this work. Polarity classification is still indexing.
abstract
Generative adversarial networks (GANs) transform low-dimensional latent vectors into visually plausible images. If the real dataset contains only clean images, then ostensibly, the manifold learned by the GAN should contain only clean images. In this paper, we propose to denoise corrupted images by finding the nearest point on the GAN manifold, recovering latent vectors by minimizing distances in image space. We first demonstrate that given a corrupted version of an image that truly lies on the GAN manifold, we can approximately recover the latent vector and denoise the image, obtaining significantly higher quality, comparing with BM3D. Next, we demonstrate that latent vectors recovered from noisy images exhibit a consistent bias. By subtracting this bias before projecting back to image space, we improve denoising results even further. Finally, even for unseen images, our method performs better at denoising better than BM3D. Notably, the basic version of our method (without bias correction) requires no prior knowledge on the noise variance. To achieve the highest possible denoising quality, the best performing signal processing based methods, such as BM3D, require an estimate of the blur kernel.
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cs.RO 1years
2025 1verdicts
REJECT 1representative citing papers
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Transformation & Translation Occupancy Grid Mapping: 2-Dimensional Deep Learning Refined SLAM
TT-OGM projects 3D LiDAR scans to 2D, estimates pose with GICP, and uses a GAN trained on undisclosed synthetic data to clean occupancy grids, claiming superior map quality on a single large building.