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Cyclops: Synthesizing Sparse LiDAR Intensity into RGB Video for Camera-Free Perception

Cyclops is a framework that synthesizes sparse Non-Repetitive Scanning LiDAR (NRS-LiDAR) intensity data into RGB video for all-weather perception tasks without a camera. Its method first uses a frozen pre-trained densification module to convert sparse intensity projections into dense representations, then learns a velocity field through Latent Bridge Matching (LBM) to transport intensity latents to the RGB distribution within a few ODE integration steps; it also injects prior-frame context via temporal attention to suppress inter-frame flickering, and models the velocity field as a policy optimized by a differentiable terminal reward.

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