Strange artifacts when running on KITTI-DC

[haiphamcse]

Hi there, loved your work! I recently reproduced your method on KITTI-DC dataset. While the quantitative results nearly match the paper, the qualitative results has a lot of strange artifacts (as given below). Has your team encountered this before?
I have also attached my quantitative results as an indicator for you guys to see if there is any problems there. Looking forward to your reply!

eval_metrics.txt

[toshas]

Could you please clarify, what exactly you refer to as artifacts? Perhaps circles or something would help. Does using the Gradio demo help troubleshooting? It shows the guides and the result. Perhaps the guides have noise - that we did encounter in LiDAR settings