Point cloud corruption implementation for nuScenes-C

[ReceiveWind]

Hello,
In the GitHub repository, I can only find corruption implementations for images, but I don't see any code related to point cloud corruption.
However, the released nuScenes-C dataset includes a pointcloud/nuScenes-C.zipfile. Could you please clarify how the point cloud corruption is generated and processed? Is there any script or documentation available for reference?

[ldkong1205]

Hi @ReceiveWind, thanks for your interest in our work!

For more details of weather and sensor-level corruptions on LiDAR point clouds, please refer to the following work and codebase:

Robo3D: Towards Robust and Reliable 3D Perception against Corruptions
https://arxiv.org/abs/2303.17597

https://github.com/worldbench/Robo3D