IROS 2026 NIDAR uses RGB for zero-shot LiDAR point cloud intensity generation

The IROS 2026 paper NIDAR proposes generating pseudo near-infrared images from RGB images and using intrinsic decomposition to add point-level intensity to existing point clouds; after offline training, it can transfer zero-shot to target scenes. In the Warehouse and Hospital sequences in Isaac Sim, after replacing with NIDAR intensity, the ATE RMSE of ISC-LOAM decreased by about 43.0% and 41.1%, respectively, compared with the simulator's built-in intensity.