# SN-LiDAR: Semantic Neural Fields for Novel Space-time View LiDAR Synthesis

arXiv: https://arxiv.org/abs/2504.08361 · HTML: https://mlsanity.com/paper/2504.08361/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Builds on 30 of its 41 references that are in the map.
- First posted on arXiv 11 Apr 2025.

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

- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [The Unreasonable Effectiveness of Deep Features as a Perceptual Metric](https://mlsanity.com/paper/1801.03924/) (2018)
- [Fully Convolutional Networks for Semantic Segmentation](https://mlsanity.com/paper/1411.4038/) (2014)
- [Instant Neural Graphics Primitives with a Multiresolution Hash Encoding](https://mlsanity.com/paper/2201.05989/) (2022)
- [CARLA: An Open Urban Driving Simulator](https://mlsanity.com/paper/1711.03938/) (2017)
- [Searching for MobileNetV3](https://mlsanity.com/paper/1905.02244/) (2019)
- [3D U-Net: Learning Dense Volumetric Segmentation from Sparse Annotation](https://mlsanity.com/paper/1606.06650/) (2016)
- [D-NeRF: Neural Radiance Fields for Dynamic Scenes](https://mlsanity.com/paper/2011.13961/) (2020)
- [A Point Set Generation Network for 3D Object Reconstruction from a Single Image](https://mlsanity.com/paper/1612.00603/) (2016)
- [K-Planes: Explicit Radiance Fields in Space, Time, and Appearance](https://mlsanity.com/paper/2301.10241/) (2023)
- [KITTI-360: A Novel Dataset and Benchmarks for Urban Scene Understanding in 2D and 3D](https://mlsanity.com/paper/2109.13410/) (2021)
- [In-Place Scene Labelling and Understanding with Implicit Scene Representation](https://mlsanity.com/paper/2103.15875/) (2021)
- [Fast Dynamic Radiance Fields with Time-Aware Neural Voxels](https://mlsanity.com/paper/2205.15285/) (2022)
- [LiDARsim: Realistic LiDAR Simulation by Leveraging the Real World](https://mlsanity.com/paper/2006.09348/) (2020)
- [NeSF: Neural Semantic Fields for Generalizable Semantic Segmentation of 3D Scenes](https://mlsanity.com/paper/2111.13260/) (2021)
- [Neural Kernel Surface Reconstruction](https://mlsanity.com/paper/2305.19590/) (2023)
- [SGS-SLAM: Semantic Gaussian Splatting For Neural Dense SLAM](https://mlsanity.com/paper/2402.03246/) (2024)
- [Neural LiDAR Fields for Novel View Synthesis](https://mlsanity.com/paper/2305.01643/) (2023)
- [SNI-SLAM: Semantic Neural Implicit SLAM](https://mlsanity.com/paper/2311.11016/) (2023)
- [PLGSLAM: Progressive Neural Scene Represenation with Local to Global Bundle Adjustment](https://mlsanity.com/paper/2312.09866/) (2023)
- [CENet: Toward Concise and Efficient LiDAR Semantic Segmentation for Autonomous Driving](https://mlsanity.com/paper/2207.12691/) (2022)
- [LiDAR-NeRF: Novel LiDAR View Synthesis via Neural Radiance Fields](https://mlsanity.com/paper/2304.10406/) (2023)
- [NeRF-LiDAR: Generating Realistic LiDAR Point Clouds with Neural Radiance Fields](https://mlsanity.com/paper/2304.14811/) (2023)
- [NeSLAM: Neural Implicit Mapping and Self-Supervised Feature Tracking With Depth Completion and Denoising](https://mlsanity.com/paper/2403.20034/) (2024)
- [LiDAR4D: Dynamic Neural Fields for Novel Space-time View LiDAR Synthesis](https://mlsanity.com/paper/2404.02742/) (2024)
- [Unsupervised Continual Semantic Adaptation through Neural Rendering](https://mlsanity.com/paper/2211.13969/) (2022)
- [PCGen: Point Cloud Generator for LiDAR Simulation](https://mlsanity.com/paper/2210.08738/) (2022)
- [SFPNet: Sparse Focal Point Network for Semantic Segmentation on General LiDAR Point Clouds](https://mlsanity.com/paper/2407.11569/) (2024)
- [Optimized Path Planning for Logistics Robots Using Ant Colony Algorithm under Multiple Constraints](https://mlsanity.com/paper/2504.05339/) (2025)
- [SALT: A Flexible Semi-Automatic Labeling Tool for General LiDAR Point Clouds with Cross-Scene Adaptability and 4D Consistency](https://mlsanity.com/paper/2503.23980/) (2025)

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

- [GaussianDWM: 3D Gaussian Driving World Model for Unified Scene Understanding and Multi-Modal Generation](https://mlsanity.com/paper/2512.23180/) (2025)
- [GaussianDWM++: Language-Grounded 3D Gaussian Driving World Model for Unified Scene Understanding, Editing, and Multi-Modal Generation](https://mlsanity.com/paper/2608.16234/) (2026)

## Abstract (arXiv)

Recent research has begun exploring novel view synthesis (NVS) for LiDAR point clouds, aiming to generate realistic LiDAR scans from unseen viewpoints. However, most existing approaches do not reconstruct semantic labels, which are crucial for many downstream applications such as autonomous driving and robotic perception. Unlike images, which benefit from powerful segmentation models, LiDAR point clouds lack such large-scale pre-trained models, making semantic annotation time-consuming and labor-intensive. To address this challenge, we propose SN-LiDAR, a method that jointly performs accurate semantic segmentation, high-quality geometric reconstruction, and realistic LiDAR synthesis. Specifically, we employ a coarse-to-fine planar-grid feature representation to extract global features from multi-frame point clouds and leverage a CNN-based encoder to extract local semantic features from the current frame point cloud. Extensive experiments on SemanticKITTI and KITTI-360 demonstrate the superiority of SN-LiDAR in both semantic and geometric reconstruction, effectively handling dynamic objects and large-scale scenes. Codes will be available on https://github.com/dtc111111/SN-Lidar.