# RF4D:Neural Radar Fields for Novel View Synthesis in Outdoor Dynamic Scenes

arXiv: https://arxiv.org/abs/2505.20967 · HTML: https://mlsanity.com/paper/2505.20967/

## Key facts

- Cited by 4 papers in the map (data through 14 Oct 2026).
- Builds on 47 of its 71 references that are in the map.
- First posted on arXiv 27 May 2025.

## Builds on (most cited first, 30 of 47)

- [Adam: A Method for Stochastic Optimization](https://mlsanity.com/paper/1412.6980/) (2014)
- [PyTorch: An Imperative Style, High-Performance Deep Learning Library](https://mlsanity.com/paper/1912.01703/) (2019)
- [Instant Neural Graphics Primitives with a Multiresolution Hash Encoding](https://mlsanity.com/paper/2201.05989/) (2022)
- [Categorical Reparameterization with Gumbel-Softmax](https://mlsanity.com/paper/1611.01144/) (2016)
- [D-NeRF: Neural Radiance Fields for Dynamic Scenes](https://mlsanity.com/paper/2011.13961/) (2020)
- [Nerfies: Deformable Neural Radiance Fields](https://mlsanity.com/paper/2011.12948/) (2020)
- [Planning-oriented Autonomous Driving](https://mlsanity.com/paper/2212.10156/) (2022)
- [PlenOctrees for Real-time Rendering of Neural Radiance Fields](https://mlsanity.com/paper/2103.14024/) (2021)
- [Neural Scene Flow Fields for Space-Time View Synthesis of Dynamic Scenes](https://mlsanity.com/paper/2011.13084/) (2020)
- [K-Planes: Explicit Radiance Fields in Space, Time, and Appearance](https://mlsanity.com/paper/2301.10241/) (2023)
- [HexPlane: A Fast Representation for Dynamic Scenes](https://mlsanity.com/paper/2301.09632/) (2023)
- [ST-P3: End-to-end Vision-based Autonomous Driving via Spatial-Temporal Feature Learning](https://mlsanity.com/paper/2207.07601/) (2022)
- [Neural Scene Graphs for Dynamic Scenes](https://mlsanity.com/paper/2011.10379/) (2020)
- [DynIBaR: Neural Dynamic Image-Based Rendering](https://mlsanity.com/paper/2211.11082/) (2022)
- [Tensor4D : Efficient Neural 4D Decomposition for High-fidelity Dynamic Reconstruction and Rendering](https://mlsanity.com/paper/2211.11610/) (2022)
- [Perceive, Predict, and Plan: Safe Motion Planning Through Interpretable Semantic Representations](https://mlsanity.com/paper/2008.05930/) (2020)
- [SUDS: Scalable Urban Dynamic Scenes](https://mlsanity.com/paper/2303.14536/) (2023)
- [NeuRAD: Neural Rendering for Autonomous Driving](https://mlsanity.com/paper/2311.15260/) (2023)
- [MV-DUSt3R+: Single-Stage Scene Reconstruction from Sparse Views In 2 Seconds](https://mlsanity.com/paper/2412.06974/) (2024)
- [The Oxford Radar RobotCar Dataset: A Radar Extension to the Oxford RobotCar Dataset](https://mlsanity.com/paper/1909.01300/) (2019)
- [DriveDreamer4D: World Models Are Effective Data Machines for 4D Driving Scene Representation](https://mlsanity.com/paper/2410.13571/) (2024)
- [ShadowDiffusion: When Degradation Prior Meets Diffusion Model for Shadow Removal](https://mlsanity.com/paper/2212.04711/) (2022)
- [ContextGS: Compact 3D Gaussian Splatting with Anchor Level Context Model](https://mlsanity.com/paper/2405.20721/) (2024)
- [Neural Fields meet Explicit Geometric Representation for Inverse Rendering of Urban Scenes](https://mlsanity.com/paper/2304.03266/) (2023)
- [FoV-NeRF: Foveated Neural Radiance Fields for Virtual Reality](https://mlsanity.com/paper/2103.16365/) (2021)
- [Boreas: A Multi-Season Autonomous Driving Dataset](https://mlsanity.com/paper/2203.10168/) (2022)
- [Geo4D: Leveraging Video Generators for Geometric 4D Scene Reconstruction](https://mlsanity.com/paper/2504.07961/) (2025)
- [NeRF in the Palm of Your Hand: Corrective Augmentation for Robotics via Novel-View Synthesis](https://mlsanity.com/paper/2301.08556/) (2023)
- [LiDAR-NeRF: Novel LiDAR View Synthesis via Neural Radiance Fields](https://mlsanity.com/paper/2304.10406/) (2023)
- [RadarOcc: Robust 3D Occupancy Prediction with 4D Imaging Radar](https://mlsanity.com/paper/2405.14014/) (2024)

## Built on by (most cited first, 4 of 4)

- [M4Human: A Large-Scale Multimodal mmWave Radar Benchmark for Human Mesh Reconstruction](https://mlsanity.com/paper/2512.12378/) (2025)
- [mmIR: Frequency-Space Inverse Rendering for 3D Millimeter-Wave Radar ADC Synthesis](https://mlsanity.com/paper/2608.28913/) (2026)
- [3D Point Splatting for mmWave Radar Novel View Synthesis](https://mlsanity.com/paper/2609.11894/) (2026)
- [DyRAD: Radar Novel View Synthesis for Dynamic Driving Scenes](https://mlsanity.com/paper/2609.39841/) (2026)

## Abstract (arXiv)

Neural fields (NFs) have achieved remarkable success in scene reconstruction and novel view synthesis. However, existing NF approaches that rely on RGB or LiDAR inputs often struggle under adverse weather conditions, limiting their robustness in real-world outdoor environments such as autonomous driving. In contrast, millimeter-wave radar is inherently resilient to environmental variations, yet its integration with NFs remains largely underexplored. Moreover, outdoor driving scenes frequently involve dynamic objects, making spatiotemporal modeling crucial for temporally consistent novel view synthesis. To address these challenges, we present RF4D, a radar-based neural field framework tailored for novel view synthesis in outdoor dynamic scenes. RF4D explicitly incorporates temporal information into its representation, enabling more accurate modeling of object motion. A dedicated scene flow module further predicts temporal offsets between adjacent frames, enforcing temporal occupancy coherence during dynamic scene reconstruction. Moreover, we propose a radar-specific power rendering formulation grounded in radar sensing physics, improving both synthesis accuracy and interpretability. Extensive experiments on public radar datasets demonstrate that RF4D substantially outperforms existing methods in radar measurement synthesis and occupancy estimation accuracy, with particularly strong gains in dynamic outdoor environments.