# OmniRe: Omni Urban Scene Reconstruction

arXiv: https://arxiv.org/abs/2408.16760 · HTML: https://mlsanity.com/paper/2408.16760/

## Key facts

- Cited by 161 papers in the map (data through 14 Oct 2026).
- Placed in World models for autonomous driving, one of 11 directions in World models.
- Builds on 55 of its 63 references that are in the map.
- First posted on arXiv 29 Aug 2024.

## Placed in

- World models / [World models for autonomous driving](https://mlsanity.com/wm/world-models-for-autonomous-driving/)

## Builds on (most cited first, 30 of 55)

- [GPT-4 Technical Report](https://mlsanity.com/paper/2303.08774/) (2023)
- [3D Gaussian Splatting for Real-Time Radiance Field Rendering](https://mlsanity.com/paper/2308.04079/) (2023)
- [nuScenes: A multimodal dataset for autonomous driving](https://mlsanity.com/paper/1903.11027/) (2019)
- [Instant Neural Graphics Primitives with a Multiresolution Hash Encoding](https://mlsanity.com/paper/2201.05989/) (2022)
- [SegFormer: Simple and Efficient Design for Semantic Segmentation with Transformers](https://mlsanity.com/paper/2105.15203/) (2021)
- [Scalability in Perception for Autonomous Driving: Waymo Open Dataset](https://mlsanity.com/paper/1912.04838/) (2019)
- [Mip-NeRF 360: Unbounded Anti-Aliased Neural Radiance Fields](https://mlsanity.com/paper/2111.12077/) (2021)
- [Mip-NeRF: A Multiscale Representation for Anti-Aliasing Neural Radiance Fields](https://mlsanity.com/paper/2103.13415/) (2021)
- [Plenoxels: Radiance Fields without Neural Networks](https://mlsanity.com/paper/2112.05131/) (2021)
- [D-NeRF: Neural Radiance Fields for Dynamic Scenes](https://mlsanity.com/paper/2011.13961/) (2020)
- [NeRF in the Wild: Neural Radiance Fields for Unconstrained Photo Collections](https://mlsanity.com/paper/2008.02268/) (2020)
- [Nerfies: Deformable Neural Radiance Fields](https://mlsanity.com/paper/2011.12948/) (2020)
- [4D Gaussian Splatting for Real-Time Dynamic Scene Rendering](https://mlsanity.com/paper/2310.08528/) (2023)
- [Deformable 3D Gaussians for High-Fidelity Monocular Dynamic Scene Reconstruction](https://mlsanity.com/paper/2309.13101/) (2023)
- [Neural Scene Flow Fields for Space-Time View Synthesis of Dynamic Scenes](https://mlsanity.com/paper/2011.13084/) (2020)
- [Dynamic 3D Gaussians: Tracking by Persistent Dynamic View Synthesis](https://mlsanity.com/paper/2308.09713/) (2023)
- [Block-NeRF: Scalable Large Scene Neural View Synthesis](https://mlsanity.com/paper/2202.05263/) (2022)
- [Argoverse 2: Next Generation Datasets for Self-Driving Perception and Forecasting](https://mlsanity.com/paper/2301.00493/) (2023)
- [NuPlan: A closed-loop ML-based planning benchmark for autonomous vehicles](https://mlsanity.com/paper/2106.11810/) (2021)
- [Non-Rigid Neural Radiance Fields: Reconstruction and Novel View Synthesis of a Dynamic Scene From Monocular Video](https://mlsanity.com/paper/2012.12247/) (2020)
- [Space-time Neural Irradiance Fields for Free-Viewpoint Video](https://mlsanity.com/paper/2011.12950/) (2020)
- [DrivingGaussian: Composite Gaussian Splatting for Surrounding Dynamic Autonomous Driving Scenes](https://mlsanity.com/paper/2312.07920/) (2023)
- [Humans in 4D: Reconstructing and Tracking Humans with Transformers](https://mlsanity.com/paper/2305.20091/) (2023)
- [SC-GS: Sparse-Controlled Gaussian Splatting for Editable Dynamic Scenes](https://mlsanity.com/paper/2312.14937/) (2023)
- [Learning 3D Human Dynamics from Video](https://mlsanity.com/paper/1812.01601/) (2018)
- [Neural Scene Graphs for Dynamic Scenes](https://mlsanity.com/paper/2011.10379/) (2020)
- [UniSim: A Neural Closed-Loop Sensor Simulator](https://mlsanity.com/paper/2308.01898/) (2023)
- [Urban Radiance Fields](https://mlsanity.com/paper/2111.14643/) (2021)
- [NeuMan: Neural Human Radiance Field from a Single Video](https://mlsanity.com/paper/2203.12575/) (2022)
- [Panoptic Neural Fields: A Semantic Object-Aware Neural Scene Representation](https://mlsanity.com/paper/2205.04334/) (2022)

## Built on by (most cited first, 30 of 161)

- [DriveDreamer4D: World Models Are Effective Data Machines for 4D Driving Scene Representation](https://mlsanity.com/paper/2410.13571/) (2024)
- [HUGSIM: A Real-Time, Photo-Realistic and Closed-Loop Simulator for Autonomous Driving](https://mlsanity.com/paper/2412.01718/) (2024)
- [ReconDreamer: Crafting World Models for Driving Scene Reconstruction via Online Restoration](https://mlsanity.com/paper/2411.19548/) (2024)
- [3DGUT: Enabling Distorted Cameras and Secondary Rays in Gaussian Splatting](https://mlsanity.com/paper/2412.12507/) (2024)
- [Cosmos-Drive-Dreams: Scalable Synthetic Driving Data Generation with World Foundation Models](https://mlsanity.com/paper/2506.09042/) (2025)
- [SplatAD: Real-Time Lidar and Camera Rendering with 3D Gaussian Splatting for Autonomous Driving](https://mlsanity.com/paper/2411.16816/) (2024)
- [3D and 4D World Modeling: A Survey](https://mlsanity.com/paper/2509.07996/) (2025)
- [InfiniCube: Unbounded and Controllable Dynamic 3D Driving Scene Generation with World-Guided Video Models](https://mlsanity.com/paper/2412.03934/) (2024)
- [STORM: Spatio-Temporal Reconstruction Model for Large-Scale Outdoor Scenes](https://mlsanity.com/paper/2501.00602/) (2024)
- [Feed-Forward Bullet-Time Reconstruction of Dynamic Scenes from Monocular Videos](https://mlsanity.com/paper/2412.03526/) (2024)
- [StreetCrafter: Street View Synthesis with Controllable Video Diffusion Models](https://mlsanity.com/paper/2412.13188/) (2024)
- [NeoVerse: Enhancing 4D World Model with in-the-wild Monocular Videos](https://mlsanity.com/paper/2601.00393/) (2026)
- [DeSiRe-GS: 4D Street Gaussians for Static-Dynamic Decomposition and Surface Reconstruction for Urban Driving Scenes](https://mlsanity.com/paper/2411.11921/) (2024)
- [DiST-4D: Disentangled Spatiotemporal Diffusion with Metric Depth for 4D Driving Scene Generation](https://mlsanity.com/paper/2503.15208/) (2025)
- [ReconDreamer++: Harmonizing Generative and Reconstructive Models for Driving Scene Representation](https://mlsanity.com/paper/2503.18438/) (2025)
- [SimScale: Learning to Drive via Real-World Simulation at Scale](https://mlsanity.com/paper/2511.23369/) (2025)
- [FreeSim: Toward Free-viewpoint Camera Simulation in Driving Scenes](https://mlsanity.com/paper/2412.03566/) (2024)
- [GaussianDWM: 3D Gaussian Driving World Model for Unified Scene Understanding and Multi-Modal Generation](https://mlsanity.com/paper/2512.23180/) (2025)
- [Beyond Gaussians: Fast and High-Fidelity 3D Splatting with Linear Kernels](https://mlsanity.com/paper/2411.12440/) (2024)
- [MTGS: Multi-Traversal Gaussian Splatting](https://mlsanity.com/paper/2503.12552/) (2025)
- [GSWorld: Closed-Loop Photo-Realistic Simulation Suite for Robotic Manipulation](https://mlsanity.com/paper/2510.20813/) (2025)
- [AD-GS: Object-Aware B-Spline Gaussian Splatting for Self-Supervised Autonomous Driving](https://mlsanity.com/paper/2507.12137/) (2025)
- [Unifying Appearance Codes and Bilateral Grids for Driving Scene Gaussian Splatting](https://mlsanity.com/paper/2506.05280/) (2025)
- [Bench2Drive-R: Turning Real World Data into Reactive Closed-Loop Autonomous Driving Benchmark by Generative Model](https://mlsanity.com/paper/2412.09647/) (2024)
- [Rethinking Driving World Model as Synthetic Data Generator for Perception Tasks](https://mlsanity.com/paper/2510.19195/) (2025)
- [EMD: Explicit Motion Modeling for High-Quality Street Gaussian Splatting](https://mlsanity.com/paper/2411.15582/) (2024)
- [Extrapolated Urban View Synthesis Benchmark](https://mlsanity.com/paper/2412.05256/) (2024)
- [WorldSplat: Gaussian-Centric Feed-Forward 4D Scene Generation for Autonomous Driving](https://mlsanity.com/paper/2509.23402/) (2025)
- [RoGSplat: Learning Robust Generalizable Human Gaussian Splatting from Sparse Multi-View Images](https://mlsanity.com/paper/2503.14198/) (2025)
- [WeatherEdit: Controllable Weather Editing with 4D Gaussian Field](https://mlsanity.com/paper/2505.20471/) (2025)

## Abstract (arXiv)

We introduce OmniRe, a comprehensive system for efficiently creating high-fidelity digital twins of dynamic real-world scenes from on-device logs. Recent methods using neural fields or Gaussian Splatting primarily focus on vehicles, hindering a holistic framework for all dynamic foregrounds demanded by downstream applications, e.g., the simulation of human behavior. OmniRe extends beyond vehicle modeling to enable accurate, full-length reconstruction of diverse dynamic objects in urban scenes. Our approach builds scene graphs on 3DGS and constructs multiple Gaussian representations in canonical spaces that model various dynamic actors, including vehicles, pedestrians, cyclists, and others. OmniRe allows holistically reconstructing any dynamic object in the scene, enabling advanced simulations (~60Hz) that include human-participated scenarios, such as pedestrian behavior simulation and human-vehicle interaction. This comprehensive simulation capability is unmatched by existing methods. Extensive evaluations on the Waymo dataset show that our approach outperforms prior state-of-the-art methods quantitatively and qualitatively by a large margin. We further extend our results to 5 additional popular driving datasets to demonstrate its generalizability on common urban scenes.