# SRMambaV2: Biomimetic Attention for Sparse Point Cloud Upsampling in Autonomous Driving

arXiv: https://arxiv.org/abs/2507.17479 · HTML: https://mlsanity.com/paper/2507.17479/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 27 of its 46 references that are in the map.
- First posted on arXiv 23 Jul 2025.

## Builds on (most cited first, 27 of 27)

- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [An Image is Worth 16x16 Words: Transformers for Image Recognition at Scale](https://mlsanity.com/paper/2010.11929/) (2020)
- [U-Net: Convolutional Networks for Biomedical Image Segmentation](https://mlsanity.com/paper/1505.04597/) (2015)
- [Swin Transformer: Hierarchical Vision Transformer using Shifted Windows](https://mlsanity.com/paper/2103.14030/) (2021)
- [PointNet: Deep Learning on Point Sets for 3D Classification and Segmentation](https://mlsanity.com/paper/1612.00593/) (2016)
- [Feature Pyramid Networks for Object Detection](https://mlsanity.com/paper/1612.03144/) (2016)
- [Fully Convolutional Networks for Semantic Segmentation](https://mlsanity.com/paper/1411.4038/) (2014)
- [Squeeze-and-Excitation Networks](https://mlsanity.com/paper/1709.01507/) (2017)
- [PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Space](https://mlsanity.com/paper/1706.02413/) (2017)
- [Pyramid Vision Transformer: A Versatile Backbone for Dense Prediction without Convolutions](https://mlsanity.com/paper/2102.12122/) (2021)
- [SwinIR: Image Restoration Using Swin Transformer](https://mlsanity.com/paper/2108.10257/) (2021)
- [VMamba: Visual State Space Model](https://mlsanity.com/paper/2401.10166/) (2024)
- [KITTI-360: A Novel Dataset and Benchmarks for Urban Scene Understanding in 2D and 3D](https://mlsanity.com/paper/2109.13410/) (2021)
- [LocalMamba: Visual State Space Model with Windowed Selective Scan](https://mlsanity.com/paper/2403.09338/) (2024)
- [MambaVision: A Hybrid Mamba-Transformer Vision Backbone](https://mlsanity.com/paper/2407.08083/) (2024)
- [Panoptic nuScenes: A Large-Scale Benchmark for LiDAR Panoptic Segmentation and Tracking](https://mlsanity.com/paper/2109.03805/) (2021)
- [BlendMask: Top-Down Meets Bottom-Up for Instance Segmentation](https://mlsanity.com/paper/2001.00309/) (2020)
- [RangeLDM: Fast Realistic LiDAR Point Cloud Generation](https://mlsanity.com/paper/2403.10094/) (2024)
- [Learning to Combine Top-Down and Bottom-Up Signals in Recurrent Neural Networks with Attention over Modules](https://mlsanity.com/paper/2006.16981/) (2020)
- [Multi-scale Attention Network for Single Image Super-Resolution](https://mlsanity.com/paper/2209.14145/) (2022)
- [OverLoCK: An Overview-first-Look-Closely-next ConvNet with Context-Mixing Dynamic Kernels](https://mlsanity.com/paper/2502.20087/) (2025)
- [SubT-MRS Dataset: Pushing SLAM Towards All-weather Environments](https://mlsanity.com/paper/2307.07607/) (2023)
- [Simulation-based Lidar Super-resolution for Ground Vehicles](https://mlsanity.com/paper/2004.05242/) (2020)
- [MobileMamba: Lightweight Multi-Receptive Visual Mamba Network](https://mlsanity.com/paper/2411.15941/) (2024)
- [TULIP: Transformer for Upsampling of LiDAR Point Clouds](https://mlsanity.com/paper/2312.06733/) (2023)
- [CAS-ViT: Convolutional Additive Self-attention Vision Transformers for Efficient Mobile Applications](https://mlsanity.com/paper/2408.03703/) (2024)
- [SRMamba: Mamba for Super-Resolution of LiDAR Point Clouds](https://mlsanity.com/paper/2505.10601/) (2025)

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

- [A Comprehensive Survey on Deep Learning-Based LiDAR Super-Resolution for Autonomous Driving](https://mlsanity.com/paper/2602.15904/) (2026)

## Abstract (arXiv)

Upsampling LiDAR point clouds in autonomous driving scenarios remains a significant challenge due to the inherent sparsity and complex 3D structures of the data. Recent studies have attempted to address this problem by converting the complex 3D spatial scenes into 2D image super-resolution tasks. However, due to the sparse and blurry feature representation of range images, accurately reconstructing detailed and complex spatial topologies remains a major difficulty. To tackle this, we propose a novel sparse point cloud upsampling method named SRMambaV2, which enhances the upsampling accuracy in long-range sparse regions while preserving the overall geometric reconstruction quality. Specifically, inspired by human driver visual perception, we design a biomimetic 2D selective scanning self-attention (2DSSA) mechanism to model the feature distribution in distant sparse areas. Meanwhile, we introduce a dual-branch network architecture to enhance the representation of sparse features. In addition, we introduce a progressive adaptive loss (PAL) function to further refine the reconstruction of fine-grained details during the upsampling process. Experimental results demonstrate that SRMambaV2 achieves superior performance in both qualitative and quantitative evaluations, highlighting its effectiveness and practical value in automotive sparse point cloud upsampling tasks.