Apr 20, 2026·Formal Sciences·260421.0062
Asset Harvester: Extracting 3D Assets from Autonomous Driving Logs for Simulation
Tianshi Cao, Jiawei Ren, Yuxuan Zhang, Jaewoo Seo +11 more
Asset Harvester converts sparse, real-world object observations from autonomous vehicle driving logs into complete 3D assets suitable for simulation. The system combines large-scale data curation, geometry-aware preprocessing, and a novel sparse-view-conditioned model (SparseViewDiT) to generate simulation-ready 3D objects from limited viewing angles.