Two Lidar papers

1. Semantic Alignment of LiDAR Data at City Scale. Fisher Yu, Jianxiong Xiao, Thomas Funkhouser. CVPR 2015.

This paper proposes a new, non-DL approach other than ICP to align point clouds in LiDAR. 

2. DeepLiDAR: Deep Surface Normal Guided Depth Prediction for Outdoor Scene from Sparse LiDAR Data and Single Color Image. CVPR 2019

This paper proposes a DL approach to estimate dense point clouds from sparse point clouds in a low-cost LiDAR and images (with image warping). It uses the surface normal as the intermediate representation to be learned.