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<!DOCTYPE html>
<html>
<head>
<meta charset="utf-8">
<meta name="description"
content="GrounDiff: Diffusion-Based Ground Surface Generation from Digital Surface Models">
<meta name="keywords" content="Geospatial AI, DSM, DTM, DSM2DTM, Ground, Generation, Digital Surface Models, Digital Terrain Models, Digital Elevation Models">
<meta name="viewport" content="width=device-width, initial-scale=1">
<title>GrounDiff: Diffusion-Based Ground Surface Generation from Digital Surface Models</title>
<link href="https://fonts.googleapis.com/css?family=Google+Sans|Noto+Sans|Castoro"
rel="stylesheet">
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<link rel="stylesheet" href="./static/css/bulma-carousel.min.css">
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/* Labels for DSM and DTM */
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position: absolute;
top: 10px;
left: 50%;
transform: translateX(-50%);
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color: white;
padding: 5px 12px;
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margin-top: 5px;
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}
</script>
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camera.position.set(0, 0, 15);
camera.up.set(0, 1, 0);
camera.lookAt(new THREE.Vector3(0, 0, 0));
return camera;
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let camera = setup_camera(div_name)
let orbit_control = create_render_div(camera, div_name, mesh_path)
list_of_orbit_controls.push(orbit_control)
}
function create_render_div(camera, div_id, mesh_path) {
let container;
let renderer, controls;
init();
animate();
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container = document.getElementById(div_id);
if (!container) {
console.error('Container not found for div_id:', div_id);
return;
}
let width = container.parentElement.clientWidth;
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camera.lookAt(0, 0, 0);
camera.updateProjectionMatrix();
let material_color = new THREE.MeshStandardMaterial({
color: 0xaaaaaa,
flatShading: true,
side: THREE.DoubleSide
})
let material_geo = new THREE.MeshStandardMaterial({
color: 0x444444,
flatShading: true,
side: THREE.DoubleSide
})
let wireframe = new THREE.WireframeGeometry(geometry);
let line = new THREE.LineSegments(wireframe);
line.material.color.setHex(0x000000);
const mesh_color = new THREE.Mesh(geometry, material_color);
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div_to_scene[div_id]["color"].add(mesh_color);
div_to_scene[div_id]["color"].add(line);
div_to_scene[div_id]["geo"].add(mesh_geo);
}, (xhr) => {
console.log((xhr.loaded / xhr.total) * 100 + '% loaded')
}, (error) => {
console.log(error)
}
);
// lights
div_to_scene[div_id]["color"].add(new THREE.HemisphereLight(0x333333, 0x222222));
div_to_scene[div_id]["geo"].add(new THREE.HemisphereLight(0x333333, 0x222222));
addShadowedLight(div_to_scene[div_id]["color"], 1, 1, 1, 0xffffff, 1.35 / 2);
addShadowedLight(div_to_scene[div_id]["color"], 0.5, 1, -1, 0xffffff, 1 / 2);
addShadowedLight(div_to_scene[div_id]["geo"], 1, 1, 1, 0xffffff, 1.35);
addShadowedLight(div_to_scene[div_id]["geo"], 0.5, 1, -1, 0xffffff, 1);
// renderer
renderer = new THREE.WebGLRenderer({antialias: true});
renderer.setPixelRatio(window.devicePixelRatio);
renderer.setSize(width, height);
renderer.outputEncoding = THREE.sRGBEncoding;
renderer.shadowMap.enabled = true;
container.appendChild(renderer.domElement);
controls = new OrbitControls(camera, renderer.domElement)
controls.enableDamping = false
// resize
window.addEventListener('resize', onWindowResize);
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let width = container.clientWidth;
let height = container.clientHeight;
camera.aspect = width / height;
camera.updateProjectionMatrix();
renderer.setSize(width, height);
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function animate() {
requestAnimationFrame(animate);
render();
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renderer.render(div_to_scene[div_id][render_colors ? "color" : "geo"], camera);
controls.update();
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return controls;
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directionalLight.shadow.camera.far = 4;
directionalLight.shadow.mapSize.width = 1024;
directionalLight.shadow.mapSize.height = 1024;
directionalLight.shadow.bias = -0.001;
}
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function logKey(evt) {
if (evt.keyCode === 71 && !mouse_button_down) {
switch_geometry()
}
if (evt.keyCode === 82 && !mouse_button_down) {
list_of_orbit_controls.forEach(oc => {
console.log(oc.object.position)
})
reset_orbit_controls()
}
}
function switch_geometry() {
render_colors = !render_colors
}
function reset_orbit_controls() {
list_of_orbit_controls.forEach(oc => {
oc.reset()
})
}
function set_style_0() {
style_id = "0"
}
function set_style_1() {
style_id = "1"
}
function set_style_2() {
style_id = "2"
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if (evt.button === 0)
mouse_button_down = true
}
document.body.onmouseup = function (evt) {
if (evt.button === 0)
mouse_button_down = false
}
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let slider = document.getElementsByClassName("slider")[0]
slider.removeAttribute("tabIndex")
// slider.addEventListener("mouseout", reset_orbit_controls);
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setup_render_divs("loc_1_bottom", './models/295750_5629000/groundiff.ply')
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setup_render_divs("loc_2_top", './models/296250_5629500/dsm.ply')
setup_render_divs("loc_2_bottom", './models/296250_5629500/groundiff.ply')
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setup_render_divs("loc_3_bottom", './models/346500_5676500/groundiff.ply')
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setup_render_divs("loc_4_bottom", './models/354000_5700500/groundiff.ply')
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setup_render_divs("loc_5_top", './models/354500_5700500/dsm.ply')
setup_render_divs("loc_5_bottom", './models/354500_5700500/groundiff.ply')
};
</script>
</head>
<section class="hero">
<div class="hero-body">
<div class="container is-max-desktop">
<div class="columns is-centered">
<div class="column has-text-centered">
<h1 class="title is-1 publication-title">GrounDiff: Diffusion-Based Ground Surface Generation from Digital<br>Surface Models</h1>
<div class="is-size-5 publication-authors">
<span class="author-block">
<a target="_blank" href="https://cvg.cit.tum.de/members/dhou">Oussema Dhaouadi</a><sup>1,2,3</sup>
</span>
<span class="author-block">
<a target="_blank" href="https://cvg.cit.tum.de/members/mejo">Johannes Meier</a><sup>1,2,3</sup> </span>
<span class="author-block">
<a target="_blank" href="https://www.linkedin.com/in/jacqueskaiser/">Jacques Kaiser</a><sup>1</sup>
</span>
<span class="author-block">
<a target="_blank" href="https://cvg.cit.tum.de/members/cremers">Daniel Cremers</a><sup>2,3</sup>
</span>
</div>
<div class="is-size-5 publication-authors">
<span class="author-block"><sup>1</sup> DeepScenario</span>
<span class="author-block"><sup>2</sup> TUM</span>
<span class="author-block"><sup>3</sup> MCML</span>
</div>
<div class="column has-text-centered">
<div class="is-size-5 publication-authors">
<span class="author-block">
<b>
WACV 2026
</b>
</span>
</div>
</div>
<div class="column has-text-centered">
<div class="publication-links">
<!-- PDF Link. -->
<span class="link-block">
<a href="https://arxiv.org/pdf/2511.10391"
class="external-link button is-normal is-rounded is-dark" target="_blank">
<span class="icon">
<i class="fas fa-file-pdf"></i>
</span>
<span>Paper</span>
</a>
</span>
<span class="link-block">
<a href="https://arxiv.org/abs/2511.10391"
class="external-link button is-normal is-rounded is-dark" target="_blank">
<span class="icon">
<i class="ai ai-arxiv"></i>
</span>
<span>arXiv</span>
</a>
</span>
<!-- Poster Link. -->
<span class="link-block">
<a href="./static/Poster_GrounDiff.pdf" target="_blank"
class="external-link button is-normal is-rounded is-dark">
<span class="icon">
<img src="./static/images/poster_icon.png" alt="Poster Icon" style="width: 15px;">
</span>
<span>Poster</span>
</a>
</span>
</div>
</div>
</div>
</div>
</div>
</div>
</section>
<section class="section">
<div class="container is-max-desktop">
<div class="hero-body">
<center><video id="teaser" autoplay loop muted playsinline onplay="this.playbackRate = 1;" width="70%">
<source src="static/teaser.mp4" type="video/mp4">
</video></center>
<h2 class="subtitle has-text-centered">
<span class="method">GrounDiff</span> redefines DSM-to-DTM conversion by "denoising" terrain with diffusion, treating buildings and vegetation as noise and delivering cleaner, more precise ground surfaces than state-of-the-art approaches.
</h2>
</div>
</div>
<div class="container is-max-desktop">
<!-- Abstract. -->
<div class="columns is-centered has-text-centered">
<div class="column is-four-fifths">
<h2 class="title is-3">Abstract</h2>
<div class="content has-text-justified">
<p>
Digital Terrain Models (DTMs) represent the bare-earth elevation and are important in numerous geospatial applications.
Such data models cannot be directly measured by sensors and are typically generated from Digital Surface Models (DSMs) derived from LiDAR or photogrammetry.
Traditional filtering approaches rely on manually tuned parameters, while learning-based methods require well-designed architectures, often combined with post-processing.
To address these challenges, we introduce <span class="method">Ground Diffusion (GrounDiff)</span>, the first diffusion-based framework that iteratively removes non-ground structures by formulating the problem as a denoising task.
We incorporate a gated design with confidence-guided generation that enables selective filtering.
To increase scalability, we further propose <b>Prior-Guided Stitching (PrioStitch)</b>, which employs a downsampled global prior automatically generated using <span class="method">GrounDiff</span> to guide local high-resolution predictions.
We evaluate our method on the DSM-to-DTM translation task across diverse datasets, showing that <span class="method">GrounDiff</span>, consistently <b>outperforms deep learning-based state-of-the-art methods</b>, reducing RMSE by up to 93% on ALS2DTM and up to 47% on USGS benchmarks.
In the task of road reconstruction, which requires both high precision and smoothness, our method achieves up to <b>81% lower distance error</b> compared to specialized techniques on the GeRoD benchmark, while maintaining <b>competitive surface smoothness using only DSM inputs</b>, without task-specific optimization.
Our variant for road reconstruction, <span class="method">GrounDiff+</span>, is specifically designed to produce even <b>smoother surfaces</b>, <b>further surpassing state-of-the-art methods</b>.
</p>
</div>
</div>
</div>
<!--/ Abstract. -->
</div>
</section>
<section class="section">
<div class="container is-max-desktop">
<h2 class="title is-3" style="text-align: center;">Video</h2>
<div class="publication-video">
<iframe src="https://www.youtube.com/embed/7fyhkFngWXw?rel=0&showinfo=0" frameborder="0"
allow="autoplay; encrypted-media" allowfullscreen></iframe>
</div>
</div>
</section>
<section class="section">
<div class="container is-max-desktop">
<h3 class="title is-3">Ground Generation</h3>
<div class="container is-max-desktop">
<div class="content has-text-justified">
The samples come from the following research datasets presented in detail in the publication: ALS2DTM and USGS datasets. The satellite images are sourced from <a href="http://bing.com/maps" target="_blank">Bing Maps</a>.
</div>
<div class="content has-text-justified">
<h2 class="title is-5">Successful Generations</h2>
<div class="columns is-centered">
<div class="column">
<div class="content">
<center><b>Example 1</b></center>
<iframe
src="static/htmls/overlay.html?url1=../../static/images/427758_4484693/bing.png&url2=../../static/images/427758_4484693/dsm.png"
frameborder="0" allow="autoplay; encrypted-media" allowfullscreen
style="width: 300px; height: 300px" scrolling="no"></iframe>
<div class="small-line"><span>Sat. Image</span><span>DSM</span></div>
<div style="height: 10px;"></div>
<iframe
src="static/htmls/overlay.html?url1=../../static/images/427758_4484693/dtm.png&url2=../../static/images/427758_4484693/dtm_pred.png"
frameborder="0" allow="autoplay; encrypted-media" allowfullscreen
style="width: 300px; height: 300px" scrolling="no"></iframe>
<div class="small-line"><span>GT DTM</span><span>Pred. DTM</span></div>
</div>
</div>
<div class="column">
<div class="content">
<center><b>Example 2</b></center>
<iframe
src="static/htmls/overlay.html?url1=../../static/images/428156_4490294/bing.png&url2=../../static/images/428156_4490294/dsm.png"
frameborder="0" allow="autoplay; encrypted-media" allowfullscreen
style="width: 300px; height: 300px" scrolling="no"></iframe>
<div class="small-line"><span>Sat. Image</span><span>DSM</span></div>
<div style="height: 10px;"></div>
<iframe
src="static/htmls/overlay.html?url1=../../static/images/428156_4490294/dtm.png&url2=../../static/images/428156_4490294/dtm_pred.png"
frameborder="0" allow="autoplay; encrypted-media" allowfullscreen
style="width: 300px; height: 300px" scrolling="no"></iframe>
<div class="small-line"><span>GT DTM</span><span>Pred. DTM</span></div>
</div>
</div>
<div class="column">
<div class="content">
<center><b>Example 3</b></center>
<iframe
src="static/htmls/overlay.html?url1=../../static/images/432238_4486997/bing.png&url2=../../static/images/432238_4486997/dsm.png"
frameborder="0" allow="autoplay; encrypted-media" allowfullscreen
style="width: 300px; height: 300px" scrolling="no"></iframe>
<div class="small-line"><span>Sat. Image</span><span>DSM</span></div>
<div style="height: 10px;"></div>
<iframe
src="static/htmls/overlay.html?url1=../../static/images/432238_4486997/dtm.png&url2=../../static/images/432238_4486997/dtm_pred.png"
frameborder="0" allow="autoplay; encrypted-media" allowfullscreen
style="width: 300px; height: 300px" scrolling="no"></iframe>
<div class="small-line"><span>GT DTM</span><span>Pred. DTM</span></div>
</div>
</div>
</div>
<div class="columns is-centered">
<div class="column">
<div class="content">
<center><b>Example 4</b></center>
<iframe
src="static/htmls/overlay.html?url1=../../static/images/669841_3131184/bing.png&url2=../../static/images/669841_3131184/dsm.png"
frameborder="0" allow="autoplay; encrypted-media" allowfullscreen
style="width: 300px; height: 300px" scrolling="no"></iframe>
<div class="small-line"><span>Sat. Image</span><span>DSM</span></div>
<div style="height: 10px;"></div>
<iframe
src="static/htmls/overlay.html?url1=../../static/images/669841_3131184/dtm.png&url2=../../static/images/669841_3131184/dtm_pred.png"
frameborder="0" allow="autoplay; encrypted-media" allowfullscreen
style="width: 300px; height: 300px" scrolling="no"></iframe>
<div class="small-line"><span>GT DTM</span><span>Pred. DTM</span></div>
</div>
</div>
<div class="column">
<div class="content">
<center><b>Example 5</b></center>
<iframe
src="static/htmls/overlay.html?url1=../../static/images/592775_5184648/bing.png&url2=../../static/images/592775_5184648/dsm.png"
frameborder="0" allow="autoplay; encrypted-media" allowfullscreen
style="width: 300px; height: 300px" scrolling="no"></iframe>
<div class="small-line"><span>Sat. Image</span><span>DSM</span></div>
<div style="height: 10px;"></div>
<iframe
src="static/htmls/overlay.html?url1=../../static/images/592775_5184648/dtm.png&url2=../../static/images/592775_5184648/dtm_pred.png"
frameborder="0" allow="autoplay; encrypted-media" allowfullscreen
style="width: 300px; height: 300px" scrolling="no"></iframe>
<div class="small-line"><span>GT DTM</span><span>Pred. DTM</span></div>
</div>
</div>
<div class="column">
<div class="content">
<center><b>Example 6</b></center>
<iframe
src="static/htmls/overlay.html?url1=../../static/images/665489_3129520/bing.png&url2=../../static/images/665489_3129520/dsm.png"
frameborder="0" allow="autoplay; encrypted-media" allowfullscreen
style="width: 300px; height: 300px" scrolling="no"></iframe>
<div class="small-line"><span>Sat. Image</span><span>DSM</span></div>
<div style="height: 10px;"></div>
<iframe
src="static/htmls/overlay.html?url1=../../static/images/665489_3129520/dtm.png&url2=../../static/images/665489_3129520/dtm_pred.png"
frameborder="0" allow="autoplay; encrypted-media" allowfullscreen
style="width: 300px; height: 300px" scrolling="no"></iframe>
<div class="small-line"><span>GT DTM</span><span>Pred. DTM</span></div>
</div>
</div>
</div>
<span class="method">GrounDiff</span> reliably removes buildings, vegetation, and other above-ground structures while preserving natural terrain features, even in challenging conditions.
</div>
<div class="content has-text-justified">
<h2 class="title is-5">Limitations</h2>
<div class="columns is-centered">
<div class="column">
<div class="content">
<center><b>Example 1</b></center>
<iframe
src="static/htmls/overlay.html?url1=../../static/images/589959_5187464/bing.png&url2=../../static/images/589959_5187464/dsm.png"
frameborder="0" allow="autoplay; encrypted-media" allowfullscreen
style="width: 300px; height: 300px" scrolling="no"></iframe>
<div class="small-line"><span>Sat. Image</span><span>DSM</span></div>
<iframe
src="static/htmls/overlay.html?url1=../../static/images/589959_5187464/dtm.png&url2=../../static/images/589959_5187464/dtm_pred.png"
frameborder="0" allow="autoplay; encrypted-media" allowfullscreen
style="width: 300px; height: 300px" scrolling="no"></iframe>
<div class="small-line"><span>GT DTM</span><span>Pred. DTM</span></div>
</div>
</div>
<div class="column">
<div class="content">
<center><b>Example 2</b></center>
<iframe
src="static/htmls/overlay.html?url1=../../static/images/588423_5180040/bing.png&url2=../../static/images/588423_5180040/dsm.png"
frameborder="0" allow="autoplay; encrypted-media" allowfullscreen
style="width: 300px; height: 300px" scrolling="no"></iframe>
<div class="small-line"><span>Sat. Image</span><span>DSM</span></div>
<iframe
src="static/htmls/overlay.html?url1=../../static/images/588423_5180040/dtm.png&url2=../../static/images/588423_5180040/dtm_pred.png"
frameborder="0" allow="autoplay; encrypted-media" allowfullscreen
style="width: 300px; height: 300px" scrolling="no"></iframe>
<div class="small-line"><span>GT DTM</span><span>Pred. DTM</span></div>
</div>
</div>
<div class="column">
<div class="content">
<center><b>Example 3</b></center>
<iframe
src="static/htmls/overlay.html?url1=../../static/images/589703_5187720/bing.png&url2=../../static/images/589703_5187720/dsm.png"
frameborder="0" allow="autoplay; encrypted-media" allowfullscreen
style="width: 300px; height: 300px" scrolling="no"></iframe>
<div class="small-line"><span>Sat. Image</span><span>DSM</span></div>
<iframe
src="static/htmls/overlay.html?url1=../../static/images/589703_5187720/dtm.png&url2=../../static/images/589703_5187720/dtm_pred.png"
frameborder="0" allow="autoplay; encrypted-media" allowfullscreen
style="width: 300px; height: 300px" scrolling="no"></iframe>
<div class="small-line"><span>GT DTM</span><span>Pred. DTM</span></div>
</div>
</div>
</div>
<span class="method">GrounDiff</span> has difficulties in areas with abrupt elevation changes such as alpine terrain. Sharp height gradients can look similar to building facades, which leads to misclassification and produces regeneration errors with locally smoothed surfaces. In dense vegetation, where the ground is mostly hidden, the model tends to infer vegetation height but lacks real ground references. As a result, it can fail entirely when pixel height differences are too small to distinguish above-ground structures.
</div>
</div>
</div>
</section>
<section class="section">
<div class="container is-max-desktop">
<h3 class="title is-3">Ground Generation for Smooth Road Reconstruction</h3>
<div class="container">
<div id="results-carousel" class="carousel results-carousel">
<div class="item item-steve render_wrapper">
<div id="loc_1_top" class="render_div">
<div class="mesh-label">Example 1 - DSM</div>
</div>
<div id="loc_1_bottom" class="render_div">
<div class="mesh-label">Example 1 - Pred. DTM</div>
</div>
</div>
<div class="item item-steve render_wrapper">
<div id="loc_2_top" class="render_div">
<div class="mesh-label">Example 2 - DSM</div>
</div>
<div id="loc_2_bottom" class="render_div">
<div class="mesh-label">Example 2 - Pred. DTM</div>
</div>
</div>
<div class="item item-steve render_wrapper">
<div id="loc_3_top" class="render_div">
<div class="mesh-label">Example 3 - DSM</div>
</div>
<div id="loc_3_bottom" class="render_div">
<div class="mesh-label">Example 3 - Pred. DTM</div>
</div>
</div>
<div class="item item-steve render_wrapper">
<div id="loc_4_top" class="render_div">
<div class="mesh-label">Example 4 - DSM</div>
</div>
<div id="loc_4_bottom" class="render_div">
<div class="mesh-label">Example 4 - Pred. DTM</div>
</div>
</div>
<div class="item item-steve render_wrapper">
<div id="loc_5_top" class="render_div">
<div class="mesh-label">Example 5 - DSM</div>
</div>
<div id="loc_5_bottom" class="render_div">
<div class="mesh-label">Example 5 - Pred. DTM</div>
</div>
</div>
</div>
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<h2 class="title">BibTeX</h2>
<pre><code id="bibtex_txt">@inproceedings{dhaouadi2026groundiff,
title = {GrounDiff: Diffusion-Based Ground Surface Generation from Digital Surface Models},
author = {Dhaouadi, Oussema and Meier, Johannes and Kaiser, Jacques and Cremers, Daniel},
booktitle = {Proceedings of the Winter Conference on Applications of Computer Vision (WACV)},
year = {2026}
}</code></pre>
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