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We introduce a hybrid Gaussian-hash-grid radiance representation for reconstructing 2D Gaussian scene models from multi-view images. Similar to NeST splatting, our approach reduces the entanglement between geometry and appearance common in…
Existing Gaussian splatting methods often fall short in achieving satisfactory novel view synthesis in driving scenes, primarily due to the absence of crafty designs and geometric constraints for the involved elements. This paper introduces…
This paper focuses on scene reconstruction under nighttime conditions in autonomous driving simulation. Recent methods based on Neural Radiance Fields (NeRFs) and 3D Gaussian Splatting (3DGS) have achieved photorealistic modeling in…
Robust and realistic rendering for large-scale road scenes is essential in autonomous driving simulation. Recently, 3D Gaussian Splatting (3D-GS) has made groundbreaking progress in neural rendering, but the general fidelity of large-scale…
Digital twins are fundamental to the development of autonomous driving and embodied artificial intelligence. However, achieving high-granularity surface reconstruction and high-fidelity rendering remains a challenge. Gaussian splatting…
In this paper, we propose UniGS, a unified map representation and differentiable framework for high-fidelity multimodal 3D reconstruction based on 3D Gaussian Splatting. Our framework integrates a CUDA-accelerated rasterization pipeline…
Ensuring the safety of autonomous vehicles necessitates comprehensive simulation of multi-sensor data, encompassing inputs from both cameras and LiDAR sensors, across various dynamic driving scenarios. Neural rendering techniques, which…
Realistic scene reconstruction and view synthesis are essential for advancing autonomous driving systems by simulating safety-critical scenarios. 3D Gaussian Splatting excels in real-time rendering and static scene reconstructions but…
Multi-traversal data, commonly collected through daily commutes or by self-driving fleets, provides multiple viewpoints for scene reconstruction within a road block. This data offers significant potential for high-quality novel view…
Multi-traversal scene reconstruction is important for high-fidelity autonomous driving simulation and digital twin construction. This task involves integrating multiple sequences captured from the same geographical area at different times.…
Road surface is the sole contact medium for wheels or robot feet. Reconstructing road surface is crucial for unmanned vehicles and mobile robots. Recent studies on Neural Radiance Fields (NeRF) and Gaussian Splatting (GS) have achieved…
This paper aims to tackle the problem of modeling dynamic urban streets for autonomous driving scenes. Recent methods extend NeRF by incorporating tracked vehicle poses to animate vehicles, enabling photo-realistic view synthesis of dynamic…
Recent developments in 3D Gaussian Splatting have made significant advances in surface reconstruction. However, scaling these methods to large-scale scenes remains challenging due to high computational demands and the complex dynamic…
This work focuses on modeling dynamic urban environments for autonomous driving simulation. Contemporary data-driven methods using neural radiance fields have achieved photorealistic driving scene modeling, but they suffer from low…
Purely MLP-based neural radiance fields (NeRF-based methods) often suffer from underfitting with blurred renderings on large-scale scenes due to limited model capacity. Recent approaches propose to geographically divide the scene and adopt…
Feed-forward surround-view autonomous driving scene reconstruction offers fast, generalizable inference ability, which faces the core challenge of ensuring generalization while elevating novel view quality. Due to the surround-view with…
Recent years have witnessed substantial advancements in the field of 3D reconstruction from 2D images, particularly following the introduction of the neural radiance field (NeRF) technique. However, reconstructing a 3D high dynamic range…
Seamless integration of both aerial and street view images remains a significant challenge in neural scene reconstruction and rendering. Existing methods predominantly focus on single domain, limiting their applications in immersive…
Robust and accurate perception of dynamic objects and map elements is crucial for autonomous vehicles performing safe navigation in complex traffic scenarios. While vision-only methods have become the de facto standard due to their…
Photorealistic 3D scene reconstruction plays an important role in autonomous driving, enabling the generation of novel data from existing datasets to simulate safety-critical scenarios and expand training data without additional acquisition…