超越OmniRe！中科院DriveSplat：几何增强的神经高斯驾驶场景重建新SOTA

Core Viewpoint - The article discusses the introduction of DriveSplat, a new method for 3D reconstruction of driving scenes that significantly enhances the accuracy of both static and dynamic elements, achieving state-of-the-art performance in novel view synthesis tasks on two autonomous driving datasets [2][41]. Group 1: Background and Motivation - Realistic closed-loop simulation of driving scenes has become a major research focus in both academia and industry, addressing factors such as fast-moving vehicles and dynamic pedestrians [2][5]. - Traditional methods have struggled with motion blur and geometric accuracy in dynamic driving scenes, leading to the development of DriveSplat, which utilizes a decoupled approach for high-quality scene reconstruction [2][6][7]. Group 2: Methodology - DriveSplat employs a neural Gaussian representation with a decoupled strategy for dynamic and static elements, enhancing the representation of close-range details through a partitioned voxel initialization scheme [2][8][14]. - The framework incorporates deformable neural Gaussians to model non-rigid dynamic participants, with parameters adjusted over time using a learnable deformation network [2][8][21]. - The method leverages depth and normal priors from pre-trained models to improve geometric accuracy during the reconstruction process [2][23][41]. Group 3: Performance Evaluation - DriveSplat was evaluated on the Waymo and KITTI datasets, demonstrating superior performance in both scene reconstruction and novel view synthesis compared to existing methods [28][31]. - In the Waymo dataset, DriveSplat achieved a PSNR of 36.08, surpassing all baseline models, while also showing improvements in SSIM and LPIPS metrics [28][29]. - The method also outperformed competitors in the KITTI dataset, particularly in maintaining background detail and accurately rendering dynamic vehicles [31][32]. Group 4: Ablation Studies - Ablation studies indicated that the combination of SfM and LiDAR for point cloud initialization yielded the best rendering results, highlighting the importance of effective initialization methods [33][34]. - The background partition optimization module was shown to enhance performance, confirming its necessity in the reconstruction process [36]. - The introduction of a deformable module significantly improved the rendering quality of non-rigid participants, demonstrating the effectiveness of the dynamic optimization approach [39][40].