LiSu: A Dataset and Method for LiDAR Surface Normal Estimation

LiSu dataset sample (b) Our method applied on a Waymo frame (c) SHS-Net [28] applied on a Waymo frame Figure 1. Our synthetic LiSu dataset (a) enables focusing research on the challenging task of LiDAR surface normal estimation. When combined with our proposed method, we achieve state-of-the-art results (b) on challenging real-world datasets like Waymo Open Dataset [45], outperforming the current state-of-the-art SHS-Net [28] (c). Best viewed in color on screen.