mlsanityData to 14 Oct 2026

DrivingGaussian: Composite Gaussian Splatting for Surrounding Dynamic Autonomous Driving Scenes

arXiv 2312.07920 ↗First posted 13 Dec 2023cs.CVcited by 360

Not on the map. Why?

Cited by 43 in End-to-end autonomous driving, but placed by its own abstract, which didn’t fit.

Abstract (arXiv)

We present DrivingGaussian, an efficient and effective framework for surrounding dynamic autonomous driving scenes. For complex scenes with moving objects, we first sequentially and progressively model the static background of the entire scene with incremental static 3D Gaussians. We then leverage a composite dynamic Gaussian graph to handle multiple moving objects, individually reconstructing each object and restoring their accurate positions and occlusion relationships within the scene. We further use a LiDAR prior for Gaussian Splatting to reconstruct scenes with greater details and maintain panoramic consistency. DrivingGaussian outperforms existing methods in dynamic driving scene reconstruction and enables photorealistic surround-view synthesis with high-fidelity and multi-camera consistency. Our project page is at: https://github.com/VDIGPKU/DrivingGaussian.

Key facts. Cited by 360 papers in the map (data through 14 Oct 2026). Builds on 51 of its 59 references that are in the map. First posted on arXiv 13 Dec 2023.

Builds on

51 of 59 references.

References · 51

  1. 2023Segment Anythingcited by 8,234
  2. 20233D Gaussian Splatting for Real-Time Radiance Field Renderingcited by 6,226
  3. 2019nuScenes: A multimodal dataset for autonomous drivingcited by 4,523
  4. 2022Instant Neural Graphics Primitives with a Multiresolution Hash Encodingcited by 3,723
  5. 2021Mip-NeRF 360: Unbounded Anti-Aliased Neural Radiance Fieldscited by 2,032
  6. 2021Mip-NeRF: A Multiscale Representation for Anti-Aliasing Neural Radiance Fieldscited by 1,964
  7. 2021Plenoxels: Radiance Fields without Neural Networkscited by 1,613
  8. 2020D-NeRF: Neural Radiance Fields for Dynamic Scenescited by 1,465
  9. 2020NeRF in the Wild: Neural Radiance Fields for Unconstrained Photo Collectionscited by 1,232
  10. 2022BEVFormer: Learning Bird's-Eye-View Representation from Multi-Camera Images via Spatiotemporal Transformerscited by 1,218
  11. 20234D Gaussian Splatting for Real-Time Dynamic Scene Renderingcited by 1,157
  12. 2022BEVFusion: Multi-Task Multi-Sensor Fusion with Unified Bird's-Eye View Representationcited by 850
38 more
  1. 2023Deformable 3D Gaussians for High-Fidelity Monocular Dynamic Scene Reconstructioncited by 759
  2. 2023Dynamic 3D Gaussians: Tracking by Persistent Dynamic View Synthesiscited by 737
  3. 2022Block-NeRF: Scalable Large Scene Neural View Synthesiscited by 724
  4. 2021BARF: Bundle-Adjusting Neural Radiance Fieldscited by 642
  5. 2023HexPlane: A Fast Representation for Dynamic Scenescited by 587
  6. 2021KITTI-360: A Novel Dataset and Benchmarks for Urban Scene Understanding in 2D and 3Dcited by 575
  7. 2021FastNeRF: High-Fidelity Neural Rendering at 200FPScited by 511
  8. 2022Point-NeRF: Point-based Neural Radiance Fieldscited by 503
  9. 2021NuPlan: A closed-loop ML-based planning benchmark for autonomous vehiclescited by 493
  10. 2021Dynamic View Synthesis from Dynamic Monocular Videocited by 420
  11. 2021Mega-NeRF: Scalable Construction of Large-Scale NeRFs for Virtual Fly-Throughscited by 398
  12. 2022BEVFusion: A Simple and Robust LiDAR-Camera Fusion Frameworkcited by 336
  13. 2020Neural Scene Graphs for Dynamic Scenescited by 298
  14. 2023UniSim: A Neural Closed-Loop Sensor Simulatorcited by 297
  15. 2021Urban Radiance Fieldscited by 263
  16. 2022Panoptic Neural Fields: A Semantic Object-Aware Neural Scene Representationcited by 243
  17. 2022NoPe-NeRF: Optimising Neural Radiance Field with No Pose Priorcited by 235
  18. 2023EmerNeRF: Emergent Spatial-Temporal Scene Decomposition via Self-Supervisioncited by 217
  19. 2022FUTR3D: A Unified Sensor Fusion Framework for 3D Detectioncited by 194
  20. 2023Robust Dynamic Radiance Fieldscited by 194
  21. 2023Tracking Everything Everywhere All at Oncecited by 193
  22. 2023MARS: An Instance-aware, Modular and Realistic Simulator for Autonomous Drivingcited by 170
  23. 2023SUDS: Scalable Urban Dynamic Scenescited by 151
  24. 2023StreetSurf: Extending Multi-view Implicit Surface Reconstruction to Street Viewscited by 120
  25. 2023S-NeRF: Neural Radiance Fields for Street Viewscited by 116
  26. 2021HDR-NeRF: High Dynamic Range Neural Radiance Fieldscited by 114
  27. 2021NeRF for Outdoor Scene Relightingcited by 114
  28. 2023Motion Planning for Autonomous Driving: The State of the Art and Future Perspectivescited by 114
  29. 2023Progressively Optimized Local Radiance Fields for Robust View Synthesiscited by 103
  30. 2023RobustNeRF: Ignoring Distractors with Robust Lossescited by 101
  31. 2023Grid-guided Neural Radiance Fields for Large Urban Scenescited by 100
  32. 2023Neural Fields meet Explicit Geometric Representation for Inverse Rendering of Urban Scenescited by 90
  33. 2023Urban Radiance Field Representation with Deformable Neural Mesh Primitivescited by 55
  34. 2023R3D3: Dense 3D Reconstruction of Dynamic Scenes from Multiple Camerascited by 39
  35. 2022ClimateNeRF: Extreme Weather Synthesis in Neural Radiance Fieldcited by 37
  36. 2023S3IM: Stochastic Structural SIMilarity and Its Unreasonable Effectiveness for Neural Fieldscited by 25
  37. 2023MOISST: Multimodal Optimization of Implicit Scene for SpatioTemporal calibrationcited by 19
  38. 2022Towards Efficient Neural Scene Graphs by Learning Consistency Fieldscited by 7

50 most cited of 51 All 51 (JSON)

Built on by

Cited by year (2026 to 14 Oct)

Citing papers per year: 2023: 1; 2024: 117; 2025: 144; 2026: 98.

360 papers.

Sort:

By area:

  1. 2024Octree-GS: Towards Consistent Real-time Rendering with LOD-Structured 3D Gaussianscited by 230
  2. 2024A Survey on 3D Gaussian Splattingcited by 224
  3. 2024Street Gaussians: Modeling Dynamic Urban Scenes with Gaussian Splattingcited by 221
  4. 2024A Hierarchical 3D Gaussian Representation for Real-Time Rendering of Very Large Datasetscited by 216
  5. 2024OmniRe: Omni Urban Scene Reconstructioncited by 161
  6. 2024Recent Advances in 3D Gaussian Splattingcited by 131
  7. 2024DriveDreamer4D: World Models Are Effective Data Machines for 4D Driving Scene Representationcited by 123
  8. 2024textitS3Gaussian: Self-Supervised Street Gaussians for Autonomous Drivingcited by 105
  9. 20243D Gaussian as a New Era: A Surveycited by 104
  10. 2024GaussianImage: 1000 FPS Image Representation and Compression by 2D Gaussian Splattingcited by 99
  11. 2024ReconDreamer: Crafting World Models for Driving Scene Reconstruction via Online Restorationcited by 89
  12. 2024FlashGS: Efficient 3D Gaussian Splatting for Large-scale and High-resolution Renderingcited by 88
38 more
  1. 2025RAD: Training an End-to-End Driving Policy via Large-Scale 3DGS-based Reinforcement Learningcited by 79
  2. 20243D Gaussian Splatting: Survey, Technologies, Challenges, and Opportunitiescited by 78
  3. 2024Large Spatial Model: End-to-end Unposed Images to Semantic 3Dcited by 73
  4. 2024MagicDrive3D: Controllable 3D Generation for Any-View Rendering in Street Scenescited by 71
  5. 2024SplatAD: Real-Time Lidar and Camera Rendering with 3D Gaussian Splatting for Autonomous Drivingcited by 69
  6. 2024SCube: Instant Large-Scale Scene Reconstruction using VoxSplatscited by 60
  7. 2024Wild-GS: Real-Time Novel View Synthesis from Unconstrained Photo Collectionscited by 56
  8. 2024InfiniCube: Unbounded and Controllable Dynamic 3D Driving Scene Generation with World-Guided Video Modelscited by 56
  9. 2024STORM: Spatio-Temporal Reconstruction Model for Large-Scale Outdoor Scenescited by 55
  10. 2024DrivingForward: Feed-forward 3D Gaussian Splatting for Driving Scene Reconstruction from Flexible Surround-view Inputcited by 53
  11. 2024FreeVS: Generative View Synthesis on Free Driving Trajectorycited by 53
  12. 2024AutoSplat: Constrained Gaussian Splatting for Autonomous Driving Scene Reconstructioncited by 52
  13. 2024GaussianOcc: Fully Self-supervised and Efficient 3D Occupancy Estimation with Gaussian Splattingcited by 50
  14. 2024CityGaussianV2: Efficient and Geometrically Accurate Reconstruction for Large-Scale Scenescited by 50
  15. 2024Feed-Forward Bullet-Time Reconstruction of Dynamic Scenes from Monocular Videoscited by 49
  16. 2024StreetCrafter: Street View Synthesis with Controllable Video Diffusion Modelscited by 49
  17. 2024EgoLifter: Open-world 3D Segmentation for Egocentric Perceptioncited by 47
  18. 2024DeSiRe-GS: 4D Street Gaussians for Static-Dynamic Decomposition and Surface Reconstruction for Urban Driving Scenescited by 45
  19. 2024SemGauss-SLAM: Dense Semantic Gaussian Splatting SLAMcited by 42
  20. 2024Gaussian Splatting: 3D Reconstruction and Novel View Synthesis, a Reviewcited by 41
  21. 20243DRealCar: An In-the-wild RGB-D Car Dataset with 360-degree Viewscited by 39
  22. 2025GWM: Towards Scalable Gaussian World Models for Robotic Manipulationcited by 39
  23. 2024SGD: Street View Synthesis with Gaussian Splatting and Diffusion Priorcited by 36
  24. 2025ReconDreamer++: Harmonizing Generative and Reconstructive Models for Driving Scene Representationcited by 36
  25. 2024Dynamic 3D Gaussian Fields for Urban Areascited by 35
  26. 2024DreamForge: Motion-Aware Autoregressive Video Generation for Multi-View Driving Scenescited by 35
  27. 2024DreamDrive: Generative 4D Scene Modeling from Street View Imagescited by 35
  28. 2025ArticulatedGS: Self-supervised Digital Twin Modeling of Articulated Objects using 3D Gaussian Splattingcited by 35
  29. 20254D LangSplat: 4D Language Gaussian Splatting via Multimodal Large Language Modelscited by 35
  30. 2024Omni-Scene: Omni-Gaussian Representation for Ego-Centric Sparse-View Scene Reconstructioncited by 32
  31. 2024G3R: Gradient Guided Generalizable Reconstructioncited by 31
  32. 2024SAGD: Boundary-Enhanced Segment Anything in 3D Gaussian via Gaussian Decompositioncited by 30
  33. 2024Horizon-GS: Unified 3D Gaussian Splatting for Large-Scale Aerial-to-Ground Scenescited by 30
  34. 2024FreeSim: Toward Free-viewpoint Camera Simulation in Driving Scenescited by 30
  35. 2024DrivingRecon: Large 4D Gaussian Reconstruction Model For Autonomous Drivingcited by 29
  36. 2025What Is The Best 3D Scene Representation for Robotics? From Geometric to Foundation Modelscited by 29
  37. 2024S-NeRF++: Autonomous Driving Simulation via Neural Reconstruction and Generationcited by 28
  38. 2025Scenario Dreamer: Vectorized Latent Diffusion for Generating Driving Simulation Environmentscited by 28

50 most cited of 360 All 360 (JSON)