Multi-Level Neural Scene Graphs for Dynamic Urban Environments
Authors: Tobias Fischer, Lorenzo Porzi, Samuel Rota Bulo, Marc Pollefeys, Peter Kontschieder

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.