# Multi-Echo Denoising in Adverse Weather

arXiv: https://arxiv.org/abs/2305.14008 · HTML: https://mlsanity.com/paper/2305.14008/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 31 of its 55 references that are in the map.
- First posted on arXiv 23 May 2023.

## Builds on (most cited first, 30 of 31)

- [PyTorch: An Imperative Style, High-Performance Deep Learning Library](https://mlsanity.com/paper/1912.01703/) (2019)
- [PointNet: Deep Learning on Point Sets for 3D Classification and Segmentation](https://mlsanity.com/paper/1612.00593/) (2016)
- [PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Space](https://mlsanity.com/paper/1706.02413/) (2017)
- [RandLA-Net: Efficient Semantic Segmentation of Large-Scale Point Clouds](https://mlsanity.com/paper/1911.11236/) (2019)
- [Noise2Noise: Learning Image Restoration without Clean Data](https://mlsanity.com/paper/1803.04189/) (2018)
- [Searching Efficient 3D Architectures with Sparse Point-Voxel Convolution](https://mlsanity.com/paper/2007.16100/) (2020)
- [Cylindrical and Asymmetrical 3D Convolution Networks for LiDAR Segmentation](https://mlsanity.com/paper/2011.10033/) (2020)
- [Large-scale Point Cloud Semantic Segmentation with Superpoint Graphs](https://mlsanity.com/paper/1711.09869/) (2017)
- [Noise2Void - Learning Denoising from Single Noisy Images](https://mlsanity.com/paper/1811.10980/) (2018)
- [SqueezeSeg: Convolutional Neural Nets with Recurrent CRF for Real-Time Road-Object Segmentation from 3D LiDAR Point Cloud](https://mlsanity.com/paper/1710.07368/) (2017)
- [SqueezeSegV2: Improved Model Structure and Unsupervised Domain Adaptation for Road-Object Segmentation from a LiDAR Point Cloud](https://mlsanity.com/paper/1809.08495/) (2018)
- [Sparse Single Sweep LiDAR Point Cloud Segmentation via Learning Contextual Shape Priors from Scene Completion](https://mlsanity.com/paper/2012.03762/) (2020)
- [Tangent Convolutions for Dense Prediction in 3D](https://mlsanity.com/paper/1807.02443/) (2018)
- [Neighbor2Neighbor: Self-Supervised Denoising from Single Noisy Images](https://mlsanity.com/paper/2101.02824/) (2021)
- [SqueezeSegV3: Spatially-Adaptive Convolution for Efficient Point-Cloud Segmentation](https://mlsanity.com/paper/2004.01803/) (2020)
- [High-Quality Self-Supervised Deep Image Denoising](https://mlsanity.com/paper/1901.10277/) (2019)
- [SPLATNet: Sparse Lattice Networks for Point Cloud Processing](https://mlsanity.com/paper/1802.08275/) (2018)
- [Panoptic-PolarNet: Proposal-free LiDAR Point Cloud Panoptic Segmentation](https://mlsanity.com/paper/2103.14962/) (2021)
- [Fog Simulation on Real LiDAR Point Clouds for 3D Object Detection in Adverse Weather](https://mlsanity.com/paper/2108.05249/) (2021)
- [Blind2Unblind: Self-Supervised Image Denoising with Visible Blind Spots](https://mlsanity.com/paper/2203.06967/) (2022)
- [LiDAR Snowfall Simulation for Robust 3D Object Detection](https://mlsanity.com/paper/2203.15118/) (2022)
- [Total Denoising: Unsupervised Learning of 3D Point Cloud Cleaning](https://mlsanity.com/paper/1904.07615/) (2019)
- [Differentiable Manifold Reconstruction for Point Cloud Denoising](https://mlsanity.com/paper/2007.13551/) (2020)
- [Lite-HDSeg: LiDAR Semantic Segmentation Using Lite Harmonic Dense Convolutions](https://mlsanity.com/paper/2103.08852/) (2021)
- [CNN-based Lidar Point Cloud De-Noising in Adverse Weather](https://mlsanity.com/paper/1912.03874/) (2019)
- [A Benchmark for Lidar Sensors in Fog: Is Detection Breaking Down?](https://mlsanity.com/paper/1912.03251/) (2019)
- [Weather Influence and Classification with Automotive Lidar Sensors](https://mlsanity.com/paper/1906.07675/) (2019)
- [4DenoiseNet: Adverse Weather Denoising from Adjacent Point Clouds](https://mlsanity.com/paper/2209.07121/) (2022)
- [LatticeNet: Fast Spatio-Temporal Point Cloud Segmentation Using Permutohedral Lattices](https://mlsanity.com/paper/2108.03917/) (2021)
- [LiSnowNet: Real-time Snow Removal for LiDAR Point Cloud](https://mlsanity.com/paper/2211.10023/) (2022)

## Built on by (most cited first, 1 of 1)

- [LIORNet: Self-Supervised LiDAR Snow Removal Framework for Autonomous Driving under Adverse Weather Conditions](https://mlsanity.com/paper/2603.19936/) (2026)

## Abstract (arXiv)

Adverse weather can cause noise to light detection and ranging (LiDAR) data. This is a problem since it is used in many outdoor applications, e.g. object detection and mapping. We propose the task of multi-echo denoising, where the goal is to pick the echo that represents the objects of interest and discard other echoes. Thus, the idea is to pick points from alternative echoes that are not available in standard strongest echo point clouds due to the noise. In an intuitive sense, we are trying to see through the adverse weather. To achieve this goal, we propose a novel self-supervised deep learning method and the characteristics similarity regularization method to boost its performance. Based on extensive experiments on a semi-synthetic dataset, our method achieves superior performance compared to the state-of-the-art in self-supervised adverse weather denoising (23% improvement). Moreover, the experiments with a real multi-echo adverse weather dataset prove the efficacy of multi-echo denoising. Our work enables more reliable point cloud acquisition in adverse weather and thus promises safer autonomous driving and driving assistance systems in such conditions. The code is available at https://github.com/alvariseppanen/SMEDNet