Geometry vs Structure: Graph-Based Diagnostics for LiDAR Point-Cloud Simulation Fidelity
Digital twins provide a scalable and cost-effective complement to real-world testing for validating autonomous-driving and advanced driver-assistance system (ADAS) sensor pipelines. However, quantifying their fidelity remains challenging, particularly for 3D LiDAR point clouds, where conventional geometric metrics may overlook important structural discrepancies. We present a graph-based framework for evaluating the structural fidelity of simulated LiDAR point clouds against real-world scans. While scan-level metrics such as Chamfer distance capture point-wise geometric similarity, they do not explicitly represent connectivity, topology, or object-level organization. Our framework construc...
| Authors | Ghazal Farhani, Taufiq Rahman |
|---|---|
| Primary category | cs.RO |
| Published | 14 September 2026 |
| Last updated at source | 14 September 2026 |
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