Towards Real-Time Full-Waveform LiDAR Transformers via Intensity-Guided Token Reduction and Physics-Aware Augmentation

Kotaro Oishi, Kazuma Ikeda, Ryosei Hara +3

LiDAR is a critical sensor for autonomous driving and robotics, yet it remains vulnerable to adverse conditions such as fog, rain, transparent objects, and low-reflectance surfaces…