DrivingGaussian: Composite Gaussian Splatting for Dynamic Autonomous Driving Scenes

Kernekoncepter

DrivingGaussian introduces Composite Gaussian Splatting to efficiently represent dynamic autonomous driving scenes, outperforming existing methods and enabling high-quality synthesis of surrounding views.

Resumé

• Introduction:
  • Representing large-scale dynamic scenes is crucial for autonomous driving tasks.
  • Challenges arise from sparse sensor data and high-speed movements.
• Neural Radiance Fields:
  • NeRF limitations in unbounded scenes due to consistent distance requirements.
  • Extensions like Mip-NeRF and Urban-NeRF address large-scale static scenes.
• 3D Gaussian Splatting:
  • Original method excels in static scenes but struggles with dynamics.
  • Extensions like Dynamic 3D-GS focus on modeling dynamic objects.
• Method:
  • DrivingGaussian hierarchically models scenes using Incremental Static Gaussians and a Composite Dynamic Gaussian Graph.
• Experiments:
  • Outperforms state-of-the-art methods in dynamic scene reconstruction and view synthesis.
• Ablation Study:
  • Importance of each module highlighted, showing the effectiveness of LiDAR prior and proposed loss functions.
• Corner Case Simulation:
  • Demonstrates the ability to simulate challenging scenarios accurately.

Statistik

"DrivingGaussian enables the high-quality synthesis of surrounding views across multi-camera."
"Our method achieves state-of-the-art performance on public autonomous driving datasets."

Citater

Vigtigste indsigter udtrukket fra

DrivingGaussian

by Xiaoyu Zhou,... kl. arxiv.org 03-21-2024

https://arxiv.org/pdf/2312.07920.pdf

Dybere Forespørgsler

How can DrivingGaussian's approach be applied to other fields beyond autonomous driving?

DrivingGaussian's approach of using Composite Gaussian Splatting for scene reconstruction can be applied to various fields beyond autonomous driving. One potential application is in the field of augmented reality (AR) and virtual reality (VR). By utilizing this method, realistic and detailed scenes can be reconstructed for immersive AR/VR experiences. This could enhance applications in gaming, training simulations, architectural visualization, and more.
Another application could be in the entertainment industry for special effects in movies or TV shows. The ability to reconstruct dynamic scenes with high fidelity could revolutionize how visual effects are created, making them more realistic and seamless.
Additionally, this approach could also find use in robotics for environment mapping and navigation. Robots equipped with sensors could utilize Composite Gaussian Splatting to reconstruct their surroundings accurately, enabling better decision-making capabilities based on real-time scene understanding.

What are potential drawbacks or criticisms of the Composite Gaussian Splatting method proposed?

One potential drawback of the Composite Gaussian Splatting method is its computational complexity. Processing large-scale scenes with multiple dynamic objects may require significant computational resources and time. This could limit its real-time applicability in certain scenarios where quick responses are crucial.
Another criticism might be related to occlusion handling between dynamic objects within the scene. Ensuring accurate representation of occlusions without artifacts or inconsistencies can be challenging when dealing with complex interactions between multiple moving elements.
Furthermore, there may be limitations regarding scalability when dealing with extremely dense environments or highly detailed scenes. Maintaining performance while scaling up to handle larger datasets or higher resolutions could pose a challenge.

How might the use of LiDAR as a prior impact the scalability and real-world application of DrivingGaussian?

Integrating LiDAR as a prior into DrivingGaussian offers benefits such as providing accurate geometric information and enhancing multi-view consistency during scene reconstruction. However, there are considerations regarding scalability:

Data Processing: Utilizing LiDAR data adds an extra layer of processing requirements due to its point cloud nature. Handling large volumes of LiDAR data efficiently may require optimized algorithms and hardware infrastructure.

Complexity: Incorporating LiDAR priors increases the complexity of the overall system architecture. Ensuring seamless integration with existing sensor inputs while maintaining efficiency can present challenges.

3Scalability: While LiDAR provides valuable depth information for precise geometry initialization, scaling up to process extensive LiDAR datasets across diverse environments may strain computational resources.
In real-world applications like autonomous driving systems that heavily rely on accurate spatial information from LiDAR sensors, addressing these scalability concerns will be essential for ensuring efficient operation at scale without compromising performance or accuracy levels..