Multi-Level Neural Scene Graphs for Dynamic Urban Environments
<|reference_start|>Multi-Level Neural Scene Graphs for Dynamic Urban Environments: We estimate the radiance field of large-scale dynamic areas from multiple vehicle captures under varying environmental conditions. Previous works in this domain are either restricted to static environments, do not scale to more than a single short video, or struggle to separately represent dynamic object instances. To this end, we present a novel, decomposable radiance field approach for dynamic urban environments. We propose a multi-level neural scene graph representation that scales to thousands of images from dozens of sequences with hundreds of fast-moving objects. To enable efficient training and rendering of our representation, we develop a fast composite ray sampling and rendering scheme. To test our approach in urban driving scenarios, we introduce a new, novel view synthesis benchmark. We show that our approach outperforms prior art by a significant margin on both established and our proposed benchmark while being faster in training and rendering.<|reference_end|>
@article{fischer2024multi-level,
    title={Multi-Level Neural Scene Graphs for Dynamic Urban Environments},
    author={Tobias Fischer, Lorenzo Porzi, Samuel Rota Bul`o, Marc Pollefeys,
  Peter Kontschieder},
    journal={arXiv preprint arXiv:2404.00168},
    year={2024},
    archivePrefix={arXiv},
    eprint={2404.00168},
    primaryClass={cs.CV}
}