ReconDreamer: オンライン修復による走行シーン再構成のための世界モデル構築
ReconDreamer: Crafting World Models for Driving Scene Reconstruction via Online Restoration
世界モデルの知識を段階的に統合し、オンライン修復でアーティファクトを抑えることで、車線変更などの大規模な操作を含む走行シーンを高品質に再構成する手法を提案。
著者: Chaojun Ni, Guosheng Zhao, Xiaofeng Wang, Zheng Zhu, Wenkang Qin, Guan Huang, Chen Liu, Yuyin Chen, Yida Wang, Xueyang Zhang, Yifei Zhan, Kun Zhan, Peng Jia, Xianpeng Lang, Xingang Wang, Wenjun Mei
分類: cs.CV, cs.AI, cs.LG, cs.RO
原文アブストラクト
Closed-loop simulation is crucial for end-to-end autonomous driving. Existing sensor simulation methods (e.g., NeRF and 3DGS) reconstruct driving scenes based on conditions that closely mirror training data distributions. However, these methods struggle with rendering novel trajectories, such as lane changes. Recent works have demonstrated that integrating world model knowledge alleviates these issues. Despite their efficiency, these approaches still encounter difficulties in the accurate representation of more complex maneuvers, with multi-lane shifts being a notable example. Therefore, we introduce ReconDreamer, which enhances driving scene reconstruction through incremental integration of world model knowledge. Specifically, DriveRestorer is proposed to mitigate artifacts via online restoration. This is complemented by a progressive data update strategy designed to ensure high-quality rendering for more complex maneuvers. To the best of our knowledge, ReconDreamer is the first method to effectively render in large maneuvers. Experimental results demonstrate that ReconDreamer outperforms Street Gaussians in the NTA-IoU, NTL-IoU, and FID, with relative improvements by 24.87%, 6.72%, and 29.97%. Furthermore, ReconDreamer surpasses DriveDreamer4D with PVG during large maneuver rendering, as verified by a relative improvement of 195.87% in the NTA-IoU metric and a comprehensive user study.
