Three dimensional object reconstruction for sensor simulation

A system comprising:

• memory;
• and
• at least one processor configured to execute instructions to perform operations comprising:
• rendering, by a differential rendering engine, an object image from a target object model;
• computing, by a loss function of the differential rendering engine, a loss based on a comparison of the object image with an actual image and a comparison of the target object model with a corresponding lidar point cloud;
• updating the target object model by the differential rendering engine according to the loss;
• and
• rendering, after updating the target object model, a target object in a virtual world using the target object model.

A non-transitory computer readable medium comprising computer readable program code for causing a computing system to perform operations comprising:

• rendering, by a differential rendering engine, an object image from a target object model;
• computing, by a loss function of the differential rendering engine, a loss based on a comparison of the object image with an actual image and a comparison of the target object model with a corresponding lidar point cloud;
• updating the target object model by the differential rendering engine according to the loss;
• and
• rendering, after updating the target object model, a target object in a virtual world using the target object model.