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cs.RO2026

Image-to-Point Cloud Registration Made Easy with Rectified Flow-based LiDAR Upsampling

Reon Tabata, Kenji Koide, Shuji Oishi +4

The paper presents a method that converts a sparse LiDAR scan into a dense intensity image using conditional rectified flow, matches it to a camera image, and estimates the 6‑DoF p…