# FWL-ToPM

Full-waveform LiDAR (FWL) records a complete return histogram for every pixel, so its data volume far exceeds a point cloud, and Transformer-based FWL models have run at only a few frames per second, short of real time. FWL-ToPM prunes low-intensity background patches by signal intensity and then merges the remaining patches along a curve that preserves spatial proximity, raising mean F1 on the Ghost-FWL benchmark from 0.503 to 0.592 while reaching 53.2 FPS. The companion FWLAug expands training samples while preserving each ray's time-of-flight waveform and the frustum geometry, adding a 4.6-point F1 gain on an out-of-distribution set of unseen scenes.

Full-waveform LiDAR (FWL) records a complete return histogram for every pixel, so its data volume far exceeds a point cloud, and Transformer-based FWL models have run at only a few frames per second, short of real time. FWL-ToPM prunes low-intensity background patches by signal intensity and then merges the remaining patches along a curve that preserves spatial proximity, raising mean F1 on the Ghost-FWL benchmark from 0.503 to 0.592 while reaching 53.2 FPS. The companion FWLAug expands training samples while preserving each ray's time-of-flight waveform and the frustum geometry, adding a 4.6-point F1 gain on an out-of-distribution set of unseen scenes.