Structural Consistency-Aware LiDAR Super-Resolution Method

Abstract

Existing LiDAR super-resolution methods primarily aim to increase point cloud density or improve coordinate reconstruction accuracy. However, they tend to introduce blurred edges and distorted planar surfaces during reconstruction, making it difficult to preserve the consistency of local scene geometry. To address this issue, this paper proposes a structural consistency-aware LiDAR super-resolution method that aims to preserve the local geometric relationships of the reconstructed point cloud with respect to the ground-truth point cloud in edge and planar regions. Specifically, complementary observations from adjacent frames are first fused using multi-scale dilated convolutions. An anisotropic Swin Transformer and a Coordinate-Aware Structure Enhancement (CASE) module are then employed to accommodate the horizontally dense and vertically sparse sampling pattern of LiDAR, strengthen long-range geometric modeling, and reduce the loss of critical structural information. During training, a local curvature-based structural consistency loss is designed to separately constrain edge sharpness and planar smoothness. During inference, prediction uncertainty and point cloud height are combined to adaptively remove low-confidence points, further improving the geometric reliability of the reconstructed point cloud. Experiments on the KITTI dataset show that the proposed method achieves an MAE of 0.4916 and an IoU of 0.4633, outperforming the representative comparison methods on both metrics. When the reconstructed point clouds are applied to A-LOAM, the average RTE and RRE values are reduced by 34.6% and 31.2%, respectively. In addition, experiments on the self-collected CSU-SLAM dataset provide preliminary evidence of the applicability of the proposed method to indoor and outdoor scenes under a different LiDAR configuration.