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The closed-loop testing of autonomous driving systems critically depends on large-scale libraries of diverse and realistic 3D vehicle assets, yet current pipelines still rely on labor-intensive modeling or multi-view capture, making efficient construction a key bottleneck. To overcome this bottleneck and enable convenient, cost-effective 3D asset generation, we propose a semantic prior-guided framework for accurate and robust vehicle point cloud reconstruction from casually captured single-view photographs. Our framework is built on a diffusion backbone but is fundamentally driven by two forms of prior knowledge: First, geometric and appearance priors from camera-aware image features, masks, and distance-transform maps are projected onto the evolving point cloud, compensating for the severe information loss in single-view inputs. Second, we introduce distillation-style regulators—pretrained neural networks that encode vehicle type and model semantics; they act as teacher networks that impose high-level constraints on the generated point clouds, transferring rich semantic knowledge and effectively regularizing the learning process. With these priors, our model infers vehicle-specific semantics from limited observations and reconstructs high-quality 3D point cloud assets. On the 3DRealCar++ dataset, our method clearly surpasses state-of-the-art point cloud baselines in both F-score and Chamfer Distance.
Cao et al. (Tue,) studied this question.