Study on Design of LiDAR Compression

All the following experiments are conducted with 4 NVIDIA 3090 GPUs on KITTI-360 (64-beam).

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Autoencoders (trained with 40k steps, evaluated on reconstruction):

Curvewise Factor	Patchwise Factor	Output Size	rFRID(↓)	rFSVD(↓)	rFPVD(↓)	CD(↓)	EMD(↓)	#Params (M)	Directory	Visualization of Reconstruction (val)
N/A	N/A	Ground Truth	-	-	-	-	-	-	-	Range Image, Point Cloud
4	1	64x256x2	0.2	12.9	13.8	0.069	0.151	9.52	Google Drive	Range Image, Point Cloud
8	1	64x128x3	0.9	21.2	17.4	0.141	0.230	10.76	Google Drive	Range Image, Point Cloud
16	1	64x64x4	2.8	31.1	23.9	0.220	0.265	12.43	Google Drive	Range Image, Point Cloud
32	1	64x32x8	16.4	49.0	38.5	0.438	0.344	13.72	Google Drive	Range Image, Point Cloud
1	2	32x512x2	1.5	25.0	23.8	0.096	0.178	2.87	Google Drive	Range Image, Point Cloud
1	4	16x256x4	0.6	15.4	15.8	0.142	0.233	12.45	Google Drive	Range Image, Point Cloud
1	8	8x128x16	17.7	35.7	33.1	0.384	0.327	15.78	Google Drive	Range Image, Point Cloud
1	16	4x64x64	37.1	68.7	63.9	0.699	0.416	16.25	Google Drive	Range Image, Point Cloud
2	2	32x256x3	0.4	11.2	12.2	0.094	0.199	13.09	Google Drive	Range Image, Point Cloud
4	2	32x128x4	3.9	19.6	16.6	0.197	0.236	14.35	Google Drive	Range Image, Point Cloud
8	2	32x64x8	8.0	25.3	20.2	0.277	0.294	16.06	Google Drive	Range Image, Point Cloud
16	2	32x32x16	21.5	54.2	44.6	0.491	0.371	17.44	Google Drive	Range Image, Point Cloud
2	4	16x128x8	2.5	16.9	15.8	0.205	0.273	15.07	Google Drive	Range Image, Point Cloud
4	4	16x128x16	13.8	29.5	25.4	0.341	0.317	16.86	Google Drive	Range Image, Point Cloud

LiDMs (trained with 10k steps, evaluated on generation):

Curvewise Factor	Patchwise Factor	Output Size	FRID(↓)	FSVD(↓)	FPVD(↓)	JSD(↓)	MMD(10$^-4$,↓)	Directory
N/A	N/A	Ground Truth	-	-	-	-	-
4	1	64x256x2	271	148	118	0.262	5.33	Google Drive
8	1	64x128x3	162	85	68	0.234	5.03	Google Drive
16	1	64x64x4	142	116	106	0.232	5.15	Google Drive
1	2	32x512x2	205	154	132	0.248	6.15	Google Drive
1	4	16x256x4	180	60	55	0.230	5.34	Google Drive
1	8	8x128x16	192	88	78	0.243	5.14	Google Drive
2	2	32x256x3	161	73	63	0.228	5.44	Google Drive
4	2	32x128x4	145	77	68	0.222	5.10	Google Drive
8	2	32x64x8	188	83	71	0.228	5.33	Google Drive
2	4	16x128x8	162	56	49	0.228	4.82	Google Drive
4	4	16x128x16	195	80	70	0.240	5.84	Google Drive

LiDM Performance with Different Scaling Factors: