mlsanityData to 7 Oct 2026

Block-NeRF: Scalable Large Scene Neural View Synthesis

arXiv 2202.05263 ↗First posted 10 Feb 2022cs.CV cs.GRcited by 720

Not on the map. Why?

Cited by 27 in End-to-end autonomous driving, but placed by its own abstract, which didn’t fit.

Abstract (arXiv)

We present Block-NeRF, a variant of Neural Radiance Fields that can represent large-scale environments. Specifically, we demonstrate that when scaling NeRF to render city-scale scenes spanning multiple blocks, it is vital to decompose the scene into individually trained NeRFs. This decomposition decouples rendering time from scene size, enables rendering to scale to arbitrarily large environments, and allows per-block updates of the environment. We adopt several architectural changes to make NeRF robust to data captured over months under different environmental conditions. We add appearance embeddings, learned pose refinement, and controllable exposure to each individual NeRF, and introduce a procedure for aligning appearance between adjacent NeRFs so that they can be seamlessly combined. We build a grid of Block-NeRFs from 2.8 million images to create the largest neural scene representation to date, capable of rendering an entire neighborhood of San Francisco.

Key facts. Cited by 720 papers in the map (data through 7 Oct 2026). Builds on 50 of its 81 references that are in the map. First posted on arXiv 10 Feb 2022.

Builds on

50 of 81 references.

References · 50

  1. 2014Adam: A Method for Stochastic Optimizationcited by 36,960
  2. 2018The Unreasonable Effectiveness of Deep Features as a Perceptual Metriccited by 11,029
  3. 2019nuScenes: A multimodal dataset for autonomous drivingcited by 4,485
  4. 2016The Cityscapes Dataset for Semantic Urban Scene Understandingcited by 4,427
  5. 2022Instant Neural Graphics Primitives with a Multiresolution Hash Encodingcited by 3,698
  6. 2019Scalability in Perception for Autonomous Driving: Waymo Open Datasetcited by 2,436
  7. 2017CARLA: An Open Urban Driving Simulatorcited by 2,431
  8. 2020Fourier Features Let Networks Learn High Frequency Functions in Low Dimensional Domainscited by 2,170
  9. 2021Mip-NeRF 360: Unbounded Anti-Aliased Neural Radiance Fieldscited by 2,013
  10. 2021Mip-NeRF: A Multiscale Representation for Anti-Aliasing Neural Radiance Fieldscited by 1,957
  11. 2021Plenoxels: Radiance Fields without Neural Networkscited by 1,607
  12. 2020NeRF in the Wild: Neural Radiance Fields for Unconstrained Photo Collectionscited by 1,230
38 more
  1. 2020Nerfies: Deformable Neural Radiance Fieldscited by 1,194
  2. 2021Direct Voxel Grid Optimization: Super-fast Convergence for Radiance Fields Reconstructioncited by 961
  3. 2020Neural Sparse Voxel Fieldscited by 959
  4. 2021PlenOctrees for Real-time Rendering of Neural Radiance Fieldscited by 904
  5. 2020NeRF++: Analyzing and Improving Neural Radiance Fieldscited by 857
  6. 2016Playing for Data: Ground Truth from Computer Gamescited by 816
  7. 2020Convolutional Occupancy Networkscited by 760
  8. 2019Argoverse: 3D Tracking and Forecasting with Rich Mapscited by 728
  9. 2021KiloNeRF: Speeding up Neural Radiance Fields with Thousands of Tiny MLPscited by 672
  10. 2021BARF: Bundle-Adjusting Neural Radiance Fieldscited by 641
  11. 2021FastNeRF: High-Fidelity Neural Rendering at 200FPScited by 510
  12. 2020NeRV: Neural Reflectance and Visibility Fields for Relighting and View Synthesiscited by 493
  13. 2021Baking Neural Radiance Fields for Real-Time View Synthesiscited by 465
  14. 2021Neural Geometric Level of Detail: Real-time Rendering with Implicit 3D Shapescited by 426
  15. 2021Mega-NeRF: Scalable Construction of Large-Scale NeRFs for Virtual Fly-Throughscited by 396
  16. 2020INeRF: Inverting Neural Radiance Fields for Pose Estimationcited by 381
  17. 2019Panoptic-DeepLabcited by 362
  18. 2016Virtual Worlds as Proxy for Multi-Object Tracking Analysiscited by 340
  19. 2020Neural Scene Graphs for Dynamic Scenescited by 298
  20. 2020Infinite Nature: Perpetual View Generation of Natural Scenes from a Single Imagecited by 239
  21. 2021A-NeRF: Articulated Neural Radiance Fields for Learning Human Shape, Appearance, and Posecited by 233
  22. 2020Free View Synthesiscited by 231
  23. 2021Learning Object-Compositional Neural Radiance Field for Editable Scene Renderingcited by 228
  24. 2018The Unmanned Aerial Vehicle Benchmark: Object Detection and Trackingcited by 207
  25. 2015DeepStereo: Learning to Predict New Views from the World's Imagerycited by 185
  26. 2020Stable View Synthesiscited by 165
  27. 2020DeRF: Decomposed Radiance Fieldscited by 163
  28. 2017Optimizing the Latent Space of Generative Networkscited by 157
  29. 2021NeRF--: Neural Radiance Fields Without Known Camera Parameterscited by 155
  30. 2021Editable Free-viewpoint Video Using a Layered Neural Representationcited by 148
  31. 2019Meta-Sim: Learning to Generate Synthetic Datasetscited by 128
  32. 2021DriveGAN: Towards a Controllable High-Quality Neural Simulationcited by 125
  33. 2019Neural Rerendering in the Wildcited by 121
  34. 2021GeoSim: Realistic Video Simulation via Geometry-Aware Composition for Self-Drivingcited by 75
  35. 2021Enhancing Photorealism Enhancementcited by 74
  36. 2020SurfelGAN: Synthesizing Realistic Sensor Data for Autonomous Drivingcited by 68
  37. 2020Meta-Sim2: Unsupervised Learning of Scene Structure for Synthetic Data Generationcited by 58
  38. 2019AADS: Augmented Autonomous Driving Simulation using Data-driven Algorithmscited by 39

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2022: 70; 2023: 222; 2024: 233; 2025: 131; 2026: 64.

720 papers.

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  1. 2022Objaverse: A Universe of Annotated 3D Objectscited by 1,522
  2. 2023K-Planes: Explicit Radiance Fields in Space, Time, and Appearancecited by 742
  3. 2023Scaffold-GS: Structured 3D Gaussians for View-Adaptive Renderingcited by 684
  4. 2023HexPlane: A Fast Representation for Dynamic Scenescited by 582
  5. 2022Socratic Models: Composing Zero-Shot Multimodal Reasoning with Languagecited by 513
  6. 2023End-to-end Autonomous Driving: Challenges and Frontierscited by 485
  7. 2022Decomposing NeRF for Editing via Feature Field Distillationcited by 370
  8. 2022ProcTHOR: Large-Scale Embodied AI Using Procedural Generationcited by 369
  9. 2023Compact 3D Gaussian Representation for Radiance Fieldcited by 365
  10. 2023Feature 3DGS: Supercharging 3D Gaussian Splatting to Enable Distilled Feature Fieldscited by 361
  11. 2023DrivingGaussian: Composite Gaussian Splatting for Surrounding Dynamic Autonomous Driving Scenescited by 359
  12. 2023Text-to-3D using Gaussian Splattingcited by 299
38 more
  1. 2023UniSim: A Neural Closed-Loop Sensor Simulatorcited by 294
  2. 2023SparseNeRF: Distilling Depth Ranking for Few-shot Novel View Synthesiscited by 247
  3. 2024EMMA: End-to-End Multimodal Model for Autonomous Drivingcited by 226
  4. 2024Octree-GS: Towards Consistent Real-time Rendering with LOD-Structured 3D Gaussianscited by 225
  5. 2024A Survey on 3D Gaussian Splattingcited by 221
  6. 2024Street Gaussians: Modeling Dynamic Urban Scenes with Gaussian Splattingcited by 218
  7. 2023EmerNeRF: Emergent Spatial-Temporal Scene Decomposition via Self-Supervisioncited by 216
  8. 2023MERF: Memory-Efficient Radiance Fields for Real-time View Synthesis in Unbounded Scenescited by 215
  9. 2024A Hierarchical 3D Gaussian Representation for Real-Time Rendering of Very Large Datasetscited by 214
  10. 2024VastGaussian: Vast 3D Gaussians for Large Scene Reconstructioncited by 209
  11. 2023Scene as Occupancycited by 208
  12. 2023Language Embedded 3D Gaussians for Open-Vocabulary Scene Understandingcited by 205
  13. 2022DiffRF: Rendering-Guided 3D Radiance Field Diffusioncited by 204
  14. 2023Tracking Everything Everywhere All at Oncecited by 190
  15. 2024CityGaussian: Real-time High-quality Large-Scale Scene Rendering with Gaussianscited by 190
  16. 2023MatrixCity: A Large-scale City Dataset for City-scale Neural Rendering and Beyondcited by 185
  17. 2023HyperReel: High-Fidelity 6-DoF Video with Ray-Conditioned Samplingcited by 173
  18. 2024OmniRe: Omni Urban Scene Reconstructioncited by 159
  19. 2023Waymax: An Accelerated, Data-Driven Simulator for Large-Scale Autonomous Driving Researchcited by 158
  20. 2022Instant Volumetric Head Avatarscited by 157
  21. 2022NeRF: Neural Radiance Field in 3D Vision: A Comprehensive Review (Updated Post-Gaussian Splatting)cited by 156
  22. 2022NeRFPlayer: A Streamable Dynamic Scene Representation with Decomposed Neural Radiance Fieldscited by 151
  23. 2023SUDS: Scalable Urban Dynamic Scenescited by 151
  24. 2024WildGaussians: 3D Gaussian Splatting in the Wildcited by 150
  25. 2023NeuRAD: Neural Rendering for Autonomous Drivingcited by 146
  26. 2023Periodic Vibration Gaussian: Dynamic Urban Scene Reconstruction and Real-time Renderingcited by 143
  27. 2022NeuMesh: Learning Disentangled Neural Mesh-based Implicit Field for Geometry and Texture Editingcited by 141
  28. 2024HUGS: Holistic Urban 3D Scene Understanding via Gaussian Splattingcited by 141
  29. 2022Mixed Neural Voxels for Fast Multi-view Video Synthesiscited by 126
  30. 2023DynMF: Neural Motion Factorization for Real-time Dynamic View Synthesis with 3D Gaussian Splattingcited by 124
  31. 2024DriveDreamer4D: World Models Are Effective Data Machines for 4D Driving Scene Representationcited by 123
  32. 2023StreetSurf: Extending Multi-view Implicit Surface Reconstruction to Street Viewscited by 120
  33. 2023F2-NeRF: Fast Neural Radiance Field Training with Free Camera Trajectoriescited by 118
  34. 2023Consistent View Synthesis with Pose-Guided Diffusion Modelscited by 117
  35. 2024Gaussian in the Wild: 3D Gaussian Splatting for Unconstrained Image Collectionscited by 117
  36. 2023S-NeRF: Neural Radiance Fields for Street Viewscited by 116
  37. 2023NeRF-DS: Neural Radiance Fields for Dynamic Specular Objectscited by 110
  38. 2024textitS3Gaussian: Self-Supervised Street Gaussians for Autonomous Drivingcited by 105

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