mlsanityData to 7 Oct 2026

Neural LiDAR Fields for Novel View Synthesis

arXiv 2305.01643 ↗First posted 2 May 2023cs.CVcited by 65

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Abstract (arXiv)

We present Neural Fields for LiDAR (NFL), a method to optimise a neural field scene representation from LiDAR measurements, with the goal of synthesizing realistic LiDAR scans from novel viewpoints. NFL combines the rendering power of neural fields with a detailed, physically motivated model of the LiDAR sensing process, thus enabling it to accurately reproduce key sensor behaviors like beam divergence, secondary returns, and ray dropping. We evaluate NFL on synthetic and real LiDAR scans and show that it outperforms explicit reconstruct-then-simulate methods as well as other NeRF-style methods on LiDAR novel view synthesis task. Moreover, we show that the improved realism of the synthesized views narrows the domain gap to real scans and translates to better registration and semantic segmentation performance.

Key facts. Cited by 65 papers in the map (data through 7 Oct 2026). Builds on 42 of its 63 references that are in the map. First posted on arXiv 2 May 2023.

Builds on

42 of 63 references.

References · 42

  1. 2014Adam: A Method for Stochastic Optimizationcited by 36,960
  2. 2022Instant Neural Graphics Primitives with a Multiresolution Hash Encodingcited by 3,698
  3. 2019DeepSDF: Learning Continuous Signed Distance Functions for Shape Representationcited by 2,682
  4. 2019Scalability in Perception for Autonomous Driving: Waymo Open Datasetcited by 2,436
  5. 2017CARLA: An Open Urban Driving Simulatorcited by 2,431
  6. 2018Occupancy Networks: Learning 3D Reconstruction in Function Spacecited by 2,037
  7. 2021Mip-NeRF 360: Unbounded Anti-Aliased Neural Radiance Fieldscited by 2,013
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  9. 2021NeuS: Learning Neural Implicit Surfaces by Volume Rendering for Multi-view Reconstructioncited by 1,701
  10. 2021Plenoxels: Radiance Fields without Neural Networkscited by 1,607
  11. 2020D-NeRF: Neural Radiance Fields for Dynamic Scenescited by 1,459
  12. 2021Volume Rendering of Neural Implicit Surfacescited by 990
30 more
  1. 2020Neural Sparse Voxel Fieldscited by 959
  2. 2020NeRF++: Analyzing and Improving Neural Radiance Fieldscited by 857
  3. 2021Depth-supervised NeRF: Fewer Views and Faster Training for Freecited by 732
  4. 2023Zip-NeRF: Anti-Aliased Grid-Based Neural Radiance Fieldscited by 667
  5. 2021UNISURF: Unifying Neural Implicit Surfaces and Radiance Fields for Multi-View Reconstructioncited by 643
  6. 2021BARF: Bundle-Adjusting Neural Radiance Fieldscited by 641
  7. 2021Neural Fields in Visual Computing and Beyondcited by 539
  8. 2020Searching Efficient 3D Architectures with Sparse Point-Voxel Convolutioncited by 422
  9. 2021NeRF in the Dark: High Dynamic Range View Synthesis from Noisy Raw Imagescited by 336
  10. 2021Dense Depth Priors for Neural Radiance Fields from Sparse Input Viewscited by 301
  11. 2020Neural Scene Graphs for Dynamic Scenescited by 298
  12. 2020PREDATOR: Registration of 3D Point Clouds with Low Overlapcited by 287
  13. 2021Urban Radiance Fieldscited by 263
  14. 2020LiDARsim: Realistic LiDAR Simulation by Leveraging the Real Worldcited by 137
  15. 2021Fog Simulation on Real LiDAR Point Clouds for 3D Object Detection in Adverse Weathercited by 95
  16. 2022EventNeRF: Neural Radiance Fields from a Single Colour Event Cameracited by 92
  17. 2021T"oRF: Time-of-Flight Radiance Fields for Dynamic Scene View Synthesiscited by 88
  18. 2022LiDAR Snowfall Simulation for Robust 3D Object Detectioncited by 72
  19. 2022TorchSparse: Efficient Point Cloud Inference Enginecited by 72
  20. 2022E-NeRF: Neural Radiance Fields from a Moving Event Cameracited by 70
  21. 2022Learning Neural Acoustic Fieldscited by 65
  22. 2021Neural Point Light Fieldscited by 51
  23. 2022Dynamic 3D Scene Analysis by Point Cloud Accumulationcited by 47
  24. 2021Lidar Light Scattering Augmentation (LISA): Physics-based Simulation of Adverse Weather Conditions for 3D Object Detectioncited by 42
  25. 2018Augmented LiDAR Simulator for Autonomous Drivingcited by 41
  26. 2022Volume Rendering Digest (for NeRF)cited by 31
  27. 2021DSOR: A Scalable Statistical Filter for Removing Falling Snow from LiDAR Point Clouds in Severe Winter Weathercited by 26
  28. 2022Neural Implicit Surface Reconstruction using Imaging Sonarcited by 19
  29. 2022Learning to Simulate Realistic LiDARscited by 16
  30. 2021Virtual laser scanning with HELIOS++: A novel take on ray tracing-based simulation of topographic 3D laser scanningcited by 11

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2023: 7; 2024: 29; 2025: 19; 2026: 10.

65 papers.

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  1. 2023Repurposing Diffusion-Based Image Generators for Monocular Depth Estimationcited by 323
  2. 2024Street Gaussians: Modeling Dynamic Urban Scenes with Gaussian Splattingcited by 218
  3. 2023NeuRAD: Neural Rendering for Autonomous Drivingcited by 146
  4. 2025Cosmos-Drive-Dreams: Scalable Synthetic Driving Data Generation with World Foundation Modelscited by 80
  5. 2025Marigold: Affordable Adaptation of Diffusion-Based Image Generators for Image Analysiscited by 78
  6. 2024SplatAD: Real-Time Lidar and Camera Rendering with 3D Gaussian Splatting for Autonomous Drivingcited by 66
  7. 2025A Survey of World Models for Autonomous Drivingcited by 60
  8. 2024LidarDM: Generative LiDAR Simulation in a Generated Worldcited by 53
  9. 2024PIN-SLAM: LiDAR SLAM Using a Point-Based Implicit Neural Representation for Achieving Global Map Consistencycited by 42
  10. 2024HDR-GS: Efficient High Dynamic Range Novel View Synthesis at 1000x Speed via Gaussian Splattingcited by 35
  11. 2024G3R: Gradient Guided Generalizable Reconstructioncited by 29
  12. 2024LiDAR4D: Dynamic Neural Fields for Novel Space-time View LiDAR Synthesiscited by 26
38 more
  1. 2023Dynamic LiDAR Re-simulation using Compositional Neural Fieldscited by 22
  2. 2024Neural Fields in Robotics: A Surveycited by 21
  3. 2024DART: Implicit Doppler Tomography for Radar Novel View Synthesiscited by 19
  4. 2024Neural Radiance Field in Autonomous Driving: A Surveycited by 19
  5. 2025GeoDrive: 3D Geometry-Informed Driving World Model with Precise Action Controlcited by 19
  6. 2024Radar Fields: Frequency-Space Neural Scene Representations for FMCW Radarcited by 18
  7. 2024AlignMiF: Geometry-Aligned Multimodal Implicit Field for LiDAR-Camera Joint Synthesiscited by 17
  8. 2024Towards 3D Vision with Low-Cost Single-Photon Camerascited by 15
  9. 2024LiDAR-GS:Real-time LiDAR Re-Simulation using Gaussian Splattingcited by 15
  10. 2025RadarSplat: Radar Gaussian Splatting for High-Fidelity Data Synthesis and 3D Reconstruction of Autonomous Driving Scenescited by 15
  11. 2024PBR-NeRF: Inverse Rendering with Physics-Based Neural Fieldscited by 12
  12. 2024HGS-Mapping: Online Dense Mapping Using Hybrid Gaussian Representation in Urban Scenescited by 11
  13. 2024LiDAR-RT: Gaussian-based Ray Tracing for Dynamic LiDAR Re-simulationcited by 10
  14. 2023PlatoNeRF: 3D Reconstruction in Plato's Cave via Single-View Two-Bounce Lidarcited by 9
  15. 2024Bayesian NeRF: Quantifying Uncertainty with Volume Density for Neural Implicit Fieldscited by 9
  16. 2024Generative Artificial Intelligence Meets Synthetic Aperture Radar: A Surveycited by 9
  17. 20243D LiDAR Mapping in Dynamic Environments Using a 4D Implicit Neural Representationcited by 8
  18. 2024UniCal: Unified Neural Sensor Calibrationcited by 8
  19. 2024LiHi-GS: LiDAR-Supervised Gaussian Splatting for Highway Driving Scene Reconstructioncited by 8
  20. 2023Radar Fields: An Extension of Radiance Fields to SARcited by 7
  21. 2024GeoNLF: Geometry guided Pose-Free Neural LiDAR Fieldscited by 6
  22. 2023Thera: Aliasing-Free Arbitrary-Scale Super-Resolution with Neural Heat Fieldscited by 5
  23. 2024PC-NeRF: Parent-Child Neural Radiance Fields Using Sparse LiDAR Frames in Autonomous Driving Environmentscited by 5
  24. 2025Transfer Your Perspective: Controllable 3D Generation from Any Viewpoint in a Driving Scenecited by 5
  25. 2025OmniGen: Unified Multimodal Sensor Generation for Autonomous Drivingcited by 5
  26. 2024LiDAR-EDIT: LiDAR Data Generation by Editing the Object Layouts in Real-World Scenescited by 4
  27. 2025InvRGB+L: Inverse Rendering of Complex Scenes with Unified Color and LiDAR Reflectance Modelingcited by 4
  28. 2023PC-NeRF: Parent-Child Neural Radiance Fields under Partial Sensor Data Loss in Autonomous Driving Environmentscited by 3
  29. 2024SMORE: Simultaneous Map and Object REconstructioncited by 3
  30. 2025SimULi: Real-Time LiDAR and Camera Simulation with Unscented Transformscited by 3
  31. 2024TREND: Unsupervised 3D Representation Learning via Temporal Forecasting for LiDAR Perceptioncited by 2
  32. 2025JiSAM: Alleviate Labeling Burden and Corner Case Problems in Autonomous Driving via Minimal Real-World Datacited by 2
  33. 2025SN-LiDAR: Semantic Neural Fields for Novel Space-time View LiDAR Synthesiscited by 2
  34. 2025Robust Single-shot Structured Light 3D Imaging via Neural Feature Decodingcited by 2
  35. 2026RadarSim: Simulating Single-Chip Radar via Multimodal Neural Fieldscited by 2
  36. 2024A Probabilistic Formulation of LiDAR Mapping with Neural Radiance Fieldscited by 1
  37. 2025Neural Inverse Rendering from Propagating Lightcited by 1
  38. 2025Physically Based Neural LiDAR Resimulationcited by 1

50 most cited of 65 All 65 (JSON)