mlsanityData to 7 Oct 2026

Periodic Vibration Gaussian: Dynamic Urban Scene Reconstruction and Real-time Rendering

arXiv 2311.18561 ↗First posted 30 Nov 2023cs.CVcited by 143

Not on the map. Why?

Cited by 22 in End-to-end autonomous driving, but placed by its own abstract, which didn’t fit.

Abstract (arXiv)

Modeling dynamic, large-scale urban scenes is challenging due to their highly intricate geometric structures and unconstrained dynamics in both space and time. Prior methods often employ high-level architectural priors, separating static and dynamic elements, resulting in suboptimal capture of their synergistic interactions. To address this challenge, we present a unified representation model, called Periodic Vibration Gaussian (PVG). PVG builds upon the efficient 3D Gaussian splatting technique, originally designed for static scene representation, by introducing periodic vibration-based temporal dynamics. This innovation enables PVG to elegantly and uniformly represent the characteristics of various objects and elements in dynamic urban scenes. To enhance temporally coherent and large scene representation learning with sparse training data, we introduce a novel temporal smoothing mechanism and a position-aware adaptive control strategy respectively. Extensive experiments on Waymo Open Dataset and KITTI benchmarks demonstrate that PVG surpasses state-of-the-art alternatives in both reconstruction and novel view synthesis for both dynamic and static scenes. Notably, PVG achieves this without relying on manually labeled object bounding boxes or expensive optical flow estimation. Moreover, PVG exhibits 900-fold acceleration in rendering over the best alternative.

Key facts. Cited by 143 papers in the map (data through 7 Oct 2026). Builds on 41 of its 56 references that are in the map. First posted on arXiv 30 Nov 2023.

Builds on

41 of 56 references.

References · 41

  1. 2014Adam: A Method for Stochastic Optimizationcited by 36,960
  2. 20233D Gaussian Splatting for Real-Time Radiance Field Renderingcited by 6,141
  3. 2019nuScenes: A multimodal dataset for autonomous drivingcited by 4,485
  4. 2022Instant Neural Graphics Primitives with a Multiresolution Hash Encodingcited by 3,698
  5. 2021SegFormer: Simple and Efficient Design for Semantic Segmentation with Transformerscited by 2,923
  6. 2019Scalability in Perception for Autonomous Driving: Waymo Open Datasetcited by 2,436
  7. 2021Mip-NeRF 360: Unbounded Anti-Aliased Neural Radiance Fieldscited by 2,013
  8. 2021Mip-NeRF: A Multiscale Representation for Anti-Aliasing Neural Radiance Fieldscited by 1,957
  9. 2020D-NeRF: Neural Radiance Fields for Dynamic Scenescited by 1,459
  10. 2022TensoRF: Tensorial Radiance Fieldscited by 1,275
  11. 2020Nerfies: Deformable Neural Radiance Fieldscited by 1,194
  12. 20234D Gaussian Splatting for Real-Time Dynamic Scene Renderingcited by 1,144
29 more
  1. 2021Direct Voxel Grid Optimization: Super-fast Convergence for Radiance Fields Reconstructioncited by 961
  2. 2023Deformable 3D Gaussians for High-Fidelity Monocular Dynamic Scene Reconstructioncited by 753
  3. 2023K-Planes: Explicit Radiance Fields in Space, Time, and Appearancecited by 742
  4. 2023Dynamic 3D Gaussians: Tracking by Persistent Dynamic View Synthesiscited by 731
  5. 2022Block-NeRF: Scalable Large Scene Neural View Synthesiscited by 720
  6. 2023Zip-NeRF: Anti-Aliased Grid-Based Neural Radiance Fieldscited by 667
  7. 2023HexPlane: A Fast Representation for Dynamic Scenescited by 582
  8. 2021Ref-NeRF: Structured View-Dependent Appearance for Neural Radiance Fieldscited by 569
  9. 2020Non-Rigid Neural Radiance Fields: Reconstruction and Novel View Synthesis of a Dynamic Scene From Monocular Videocited by 470
  10. 2023Real-time Photorealistic Dynamic Scene Representation and Rendering with 4D Gaussian Splattingcited by 470
  11. 2021Mega-NeRF: Scalable Construction of Large-Scale NeRFs for Virtual Fly-Throughscited by 396
  12. 2022MobileNeRF: Exploiting the Polygon Rasterization Pipeline for Efficient Neural Field Rendering on Mobile Architecturescited by 308
  13. 2020Neural Scene Graphs for Dynamic Scenescited by 298
  14. 2023UniSim: A Neural Closed-Loop Sensor Simulatorcited by 294
  15. 2021Urban Radiance Fieldscited by 263
  16. 2022Panoptic Neural Fields: A Semantic Object-Aware Neural Scene Representationcited by 243
  17. 2023BakedSDF: Meshing Neural SDFs for Real-Time View Synthesiscited by 220
  18. 2023EmerNeRF: Emergent Spatial-Temporal Scene Decomposition via Self-Supervisioncited by 216
  19. 2023MERF: Memory-Efficient Radiance Fields for Real-time View Synthesis in Unbounded Scenescited by 215
  20. 2021HyperNeRF: A Higher-Dimensional Representation for Topologically Varying Neural Radiance Fieldscited by 210
  21. 2023HyperReel: High-Fidelity 6-DoF Video with Ray-Conditioned Samplingcited by 173
  22. 2023MARS: An Instance-aware, Modular and Realistic Simulator for Autonomous Drivingcited by 170
  23. 2023SUDS: Scalable Urban Dynamic Scenescited by 151
  24. 2022Mixed Neural Voxels for Fast Multi-view Video Synthesiscited by 126
  25. 2023StreetSurf: Extending Multi-view Implicit Surface Reconstruction to Street Viewscited by 120
  26. 2023S-NeRF: Neural Radiance Fields for Street Viewscited by 116
  27. 2023Neural Fields meet Explicit Geometric Representation for Inverse Rendering of Urban Scenescited by 89
  28. 2023Factor Fields: A Unified Framework for Neural Fields and Beyondcited by 58
  29. 2022READ: Large-Scale Neural Scene Rendering for Autonomous Drivingcited by 50

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2023: 2; 2024: 50; 2025: 51; 2026: 40.

143 papers.

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  1. 2024A Survey on 3D Gaussian Splattingcited by 221
  2. 2024Street Gaussians: Modeling Dynamic Urban Scenes with Gaussian Splattingcited by 218
  3. 2024OmniRe: Omni Urban Scene Reconstructioncited by 159
  4. 2024Recent Advances in 3D Gaussian Splattingcited by 130
  5. 2024DriveDreamer4D: World Models Are Effective Data Machines for 4D Driving Scene Representationcited by 123
  6. 2024textitS3Gaussian: Self-Supervised Street Gaussians for Autonomous Drivingcited by 105
  7. 20243D Gaussian as a New Era: A Surveycited by 102
  8. 2023WoVoGen: World Volume-aware Diffusion for Controllable Multi-camera Driving Scene Generationcited by 93
  9. 2024ReconDreamer: Crafting World Models for Driving Scene Reconstruction via Online Restorationcited by 89
  10. 2024HUGSIM: A Real-Time, Photo-Realistic and Closed-Loop Simulator for Autonomous Drivingcited by 84
  11. 2024SplatAD: Real-Time Lidar and Camera Rendering with 3D Gaussian Splatting for Autonomous Drivingcited by 66
  12. 2024SplatSim: Zero-Shot Sim2Real Transfer of RGB Manipulation Policies Using Gaussian Splattingcited by 63
38 more
  1. 2024STORM: Spatio-Temporal Reconstruction Model for Large-Scale Outdoor Scenescited by 53
  2. 2024AutoSplat: Constrained Gaussian Splatting for Autonomous Driving Scene Reconstructioncited by 52
  3. 2024FreeVS: Generative View Synthesis on Free Driving Trajectorycited by 52
  4. 2024StreetCrafter: Street View Synthesis with Controllable Video Diffusion Modelscited by 49
  5. 2024DeSiRe-GS: 4D Street Gaussians for Static-Dynamic Decomposition and Surface Reconstruction for Urban Driving Scenescited by 45
  6. 2024Gaussian Splatting: 3D Reconstruction and Novel View Synthesis, a Reviewcited by 40
  7. 2025DiST-4D: Disentangled Spatiotemporal Diffusion with Metric Depth for 4D Driving Scene Generationcited by 39
  8. 2026NeoVerse: Enhancing 4D World Model with in-the-wild Monocular Videoscited by 39
  9. 2024SGD: Street View Synthesis with Gaussian Splatting and Diffusion Priorcited by 36
  10. 2025ReconDreamer++: Harmonizing Generative and Reconstructive Models for Driving Scene Representationcited by 36
  11. 2024DreamDrive: Generative 4D Scene Modeling from Street View Imagescited by 35
  12. 2025Segment Any Motion in Videoscited by 34
  13. 2024Horizon-GS: Unified 3D Gaussian Splatting for Large-Scale Aerial-to-Ground Scenescited by 30
  14. 2024FreeSim: Toward Free-viewpoint Camera Simulation in Driving Scenescited by 30
  15. 2024DrivingRecon: Large 4D Gaussian Reconstruction Model For Autonomous Drivingcited by 27
  16. 2025CoDa-4DGS: Dynamic Gaussian Splatting with Context and Deformation Awareness for Autonomous Drivingcited by 25
  17. 2024Forging Vision Foundation Models for Autonomous Driving: Challenges, Methodologies, and Opportunitiescited by 24
  18. 2025GaussianDWM: 3D Gaussian Driving World Model for Unified Scene Understanding and Multi-Modal Generationcited by 23
  19. 2024SplatFlow: Self-Supervised Dynamic Gaussian Splatting in Neural Motion Flow Field for Autonomous Drivingcited by 20
  20. 2025EVolSplat: Efficient Volume-based Gaussian Splatting for Urban View Synthesiscited by 20
  21. 2024Neural Radiance Field in Autonomous Driving: A Surveycited by 19
  22. 2024Segment Any 4D Gaussianscited by 19
  23. 2025A Survey on 3D Gaussian Splatting Applications: Segmentation, Editing, and Generationcited by 19
  24. 2024Multiagent Multitraversal Multimodal Self-Driving: Open MARS Datasetcited by 18
  25. 2025AD-GS: Object-Aware B-Spline Gaussian Splatting for Self-Supervised Autonomous Drivingcited by 17
  26. 2024VDG: Vision-Only Dynamic Gaussian for Driving Simulationcited by 16
  27. 20243DGS-ReLoc: 3D Gaussian Splatting for Map Representation and Visual ReLocalizationcited by 15
  28. 2024VisionPAD: A Vision-Centric Pre-training Paradigm for Autonomous Drivingcited by 15
  29. 20244D Gaussian Splatting: Modeling Dynamic Scenes with Native 4D Primitivescited by 15
  30. 2025RadarSplat: Radar Gaussian Splatting for High-Fidelity Data Synthesis and 3D Reconstruction of Autonomous Driving Scenescited by 15
  31. 2024Bench2Drive-R: Turning Real World Data into Reactive Closed-Loop Autonomous Driving Benchmark by Generative Modelcited by 14
  32. 2024EMD: Explicit Motion Modeling for High-Quality Street Gaussian Splattingcited by 13
  33. 2024Extrapolated Urban View Synthesis Benchmarkcited by 13
  34. 2024WeatherGS: 3D Scene Reconstruction in Adverse Weather Conditions via Gaussian Splattingcited by 13
  35. 2024TCLC-GS: Tightly Coupled LiDAR-Camera Gaussian Splatting for Autonomous Drivingcited by 11
  36. 2024Driving View Synthesis on Free-form Trajectories with Generative Priorcited by 11
  37. 2025VINGS-Mono: Visual-Inertial Gaussian Splatting Monocular SLAM in Large Scenescited by 11
  38. 2025CRUISE: Cooperative Reconstruction and Editing in V2X Scenarios using Gaussian Splattingcited by 11

50 most cited of 143 All 143 (JSON)