VDG: Vision-Only Dynamic Gaussian for Driving Simulation

Understand

Dynamic Gaussian splatting has led to impressive scene reconstruction and image synthesis advances in novel views.

• Existing methods, however, heavily rely on pre-computed poses and Gaussian initialization by Structure from Motion (SfM) algorithms or expensive sensors.
• For the first time, this paper addresses this issue by integrating self-supervised VO into our pose-free dynamic Gaussian method (VDG) to boost pose and depth initialization and static-dynamic decomposition.
• Moreover, VDG can work with only RGB image input and construct dynamic scenes at a faster speed and larger scenes compared with the pose-free dynamic view-synthesis method.