@article{realisticrainyweathersimulationforlidars,
  title = {Realistic Rainy Weather Simulation for LiDARs in CARLA Simulator},
  author = {Donglin Yang and Zhenfeng Liu and Wentao Jiang and Guohang Yan and Xing Gao and Botian Shi and Si Liu and Xinyu Cai},
  year = {2023},
  eprint = {2312.12772},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2312.12772v1},
}