# Adverse Weather Conditions Augmentation of LiDAR Scenes with Latent Diffusion Models

arXiv: https://arxiv.org/abs/2501.01761 · HTML: https://mlsanity.com/paper/2501.01761/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Placed in 3D, point cloud and scene generation, one of 14 directions in Diffusion models.
- Builds on 18 of its 23 references that are in the map.
- First posted on arXiv 3 Jan 2025.

## Placed in

- Diffusion models / [3D, point cloud and scene generation](https://mlsanity.com/diffusion/3d-point-cloud-and-scene-generation/)

## Builds on (most cited first, 18 of 18)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [Denoising Diffusion Probabilistic Models](https://mlsanity.com/paper/2006.11239/) (2020)
- [High-Resolution Image Synthesis with Latent Diffusion Models](https://mlsanity.com/paper/2112.10752/) (2021)
- [Diffusion Models Beat GANs on Image Synthesis](https://mlsanity.com/paper/2105.05233/) (2021)
- [Classifier-Free Diffusion Guidance](https://mlsanity.com/paper/2207.12598/) (2022)
- [Adding Conditional Control to Text-to-Image Diffusion Models](https://mlsanity.com/paper/2302.05543/) (2023)
- [Neural Discrete Representation Learning](https://mlsanity.com/paper/1711.00937/) (2017)
- [nuScenes: A multimodal dataset for autonomous driving](https://mlsanity.com/paper/1903.11027/) (2019)
- [Taming Transformers for High-Resolution Image Synthesis](https://mlsanity.com/paper/2012.09841/) (2020)
- [FiLM: Visual Reasoning with a General Conditioning Layer](https://mlsanity.com/paper/1709.07871/) (2017)
- [Center-based 3D Object Detection and Tracking](https://mlsanity.com/paper/2006.11275/) (2020)
- [Boreas: A Multi-Season Autonomous Driving Dataset](https://mlsanity.com/paper/2203.10168/) (2022)
- [LiDAR Snowfall Simulation for Robust 3D Object Detection](https://mlsanity.com/paper/2203.15118/) (2022)
- [Towards Realistic Scene Generation with LiDAR Diffusion Models](https://mlsanity.com/paper/2404.00815/) (2024)
- [Disentanglement via Latent Quantization](https://mlsanity.com/paper/2305.18378/) (2023)
- [Scaling Diffusion Models to Real-World 3D LiDAR Scene Completion](https://mlsanity.com/paper/2403.13470/) (2024)
- [Survey on LiDAR Perception in Adverse Weather Conditions](https://mlsanity.com/paper/2304.06312/) (2023)
- [Binary Latent Diffusion](https://mlsanity.com/paper/2304.04820/) (2023)

## Built on by (most cited first, 2 of 2)

- [L3DR: 3D-aware LiDAR Diffusion and Rectification](https://mlsanity.com/paper/2602.19064/) (2026)
- [CRISP: Fixing Flying Pixels in Latent LiDAR Generation via Diffusion Decoding](https://mlsanity.com/paper/2610.11376/) (2026)

## Abstract (arXiv)

LiDAR scenes constitute a fundamental source for several autonomous driving applications. Despite the existence of several datasets, scenes from adverse weather conditions are rarely available. This limits the robustness of downstream machine learning models, and restrains the reliability of autonomous driving systems in particular locations and seasons. Collecting feature-diverse scenes under adverse weather conditions is challenging due to seasonal limitations. Generative models are therefore essentials, especially for generating adverse weather conditions for specific driving scenarios. In our work, we propose a latent diffusion process constituted by autoencoder and latent diffusion models. Moreover, we leverage the clear condition LiDAR scenes with a postprocessing step to improve the realism of the generated adverse weather condition scenes.