Author

Samed Doğan

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Preprint Sep 2026

Geometry Without Coordinates: LiDAR Diffusion as a 3D Feature Bridge

Transferring the rich priors of large 2D foundation models to sparse 3D LiDAR remains challenging, as training native 3D foundation models at comparable scale is limited by data and annotation scarcity. We introduce a LiDAR-conditioned diffusion model trained on pseudo-labels from off-the-shelf 2D foundation models. Th...

Samed Doğan, Nico Leuze, Alfred Schöttl · 0 citations

Conference Jul 2026

Diffusion-Driven Point Cloud Adaption for Depth-Only 6D Pose Estimation in Cluttered Robotics Bin-Picking

D pose estimation in densely-packed, industrial environments remains a challenging perception problem due to severe occlusions, sensor noise, and the fragmentary nature of reconstructed 3D observations. To this end, we present a generative module for holistic, depth-only 6D pose estimation in cluttered bin-picking that...

Samed Doğan, Nico Leuze, Nicolas Rodriguez-Pena et al. · 2026 6th International Confe... · 0 citations