Poster: Making Edge-assisted LiDAR Perceptions Robust to Lossy Point
  Cloud Compression
Jin Heo Gregorie Phillips Per-Erik Brodin Ada Gavrilovska
Real-time light detection and ranging (LiDAR) perceptions, e.g., 3D object
detection and simultaneous localization and mapping are computationally
intensive to mobile devices of limited resources and often offloaded on the
edge. Offloading LiDAR perceptions requires compressing the raw sensor data,
and lossy compression is used for efficiently reducing the data volume. Lossy
compression degrades the quality of LiDAR point clouds, and the perception
performance is decreased consequently. In this work, we present an
interpolation algorithm improving the quality of a LiDAR point cloud to
mitigate the perception performance loss due to lossy compression. The
algorithm targets the range image (RI) representation of a point cloud and
interpolates points at the RI based on depth gradients. Compared to existing
image interpolation algorithms, our algorithm shows a better qualitative result
when the point cloud is reconstructed from the interpolated RI. With the
preliminary results, we also describe the next steps of the current work.