Scene Reconstruction on nuScenes
29.7PSNRPhysically-Based Gaussian Splatting
Evaluation results
| Method | Links | |||
|---|---|---|---|---|
| Physically-Based Gaussian Splatting2026.02 | 29.7 | 0.775 | 0.319 | |
| DrivingGaussian (Ours-L)Input=Images + LiDAR, Rendering Time(s)=0.9632023.12 | 28.74 | 0.865 | 0.237 | |
| OmniRe2026.02 | 28.7 | 0.76 | 0.335 | |
| DrivingGaussian (Ours-S)Input=Images + SfM Points, Rendering Time(s)=0.9652023.12 | 28.36 | 0.851 | 0.256 | |
| StreetGaussians2026.02 | 28.3 | 0.749 | 0.364 | |
| 3DGS2026.02 | 27.6 | 0.741 | 0.378 | |
| PointForwardEvaluation Protocol=Fine-Tuning2026.05 | 27.5 | 0.826 | — | |
| EmerNeRFInput=Images + LiDAR, Rendering Time(s)=21.912023.12 | 26.75 | 0.76 | 0.311 | |
| DGGTEvaluation Protocol=Fine-Tuning2026.05 | 26.63 | 0.813 | — | |
| PointForwardEvaluation Protocol=Zero-Shot2026.05 | 26.54 | 0.821 | — | |
| LiDAR-EVS2026.03 | 26.11 | 0.837 | 0.339 | |
| 3D-GSInput=Images + SfM Points, Rendering Time(s)=0.8642023.12 | 26.08 | 0.717 | 0.298 | |
| SplatAD2026.03 | 25.97 | 0.833 | 0.317 | |
| NeuRAD2026.03 | 25.96 | 0.786 | 0.318 | |
| SpectralSplat2026.04 | 25.75 | 0.792 | 0.227 | |
| S-NeRFInput=Images + LiDAR, Rendering Time(s)=23.672023.12 | 25.43 | 0.73 | 0.302 | |
| UniSplat2026.04 | 25.37 | 0.765 | 0.246 | |
| DGGTEvaluation Protocol=Zero-Shot2026.05 | 25.31 | 0.794 | — | |
| STORMEvaluation Protocol=Fine-Tuning2026.05 | 24.54 | 0.784 | — | |
| Omni-Scene2026.04 | 24.27 | 0.736 | 0.237 | |
| OmniRE2026.03 | 22.77 | 0.706 | 0.21 | |
| Mip-NeRF360Input=Images, Rendering Time(s)=11.862023.12 | 22.61 | 0.688 | 0.395 | |
| NSGInput=Images, Rendering Time(s)=52.282023.12 | 21.67 | 0.671 | 0.424 | |
| MVSplat2026.04 | 21.61 | 0.658 | 0.295 | |
| PixelSplat2026.04 | 21.51 | 0.616 | 0.372 | |
| SUDSInput=Images + LiDAR, Rendering Time(s)=45.72023.12 | 21.26 | 0.603 | 0.466 | |
| Urban-NeRFInput=Images + LiDAR, Rendering Time(s)=41.292023.12 | 20.75 | 0.627 | 0.48 | |
| 4D-GSInput=Images + SfM Points, Rendering Time(s)=2.162023.12 | 19.79 | 0.622 | 0.473 | |
| Mip-NeRFInput=Images, Rendering Time(s)=24.552023.12 | 18.08 | 0.572 | 0.551 | |
| STORMEvaluation Protocol=Zero-Shot2026.05 | 17.77 | 0.669 | — | |
| NeRF+TimeInput=Images, Rendering Time(s)=31.142023.12 | 17.54 | 0.565 | 0.532 | |
| Instant-NGPInput=Images, Rendering Time(s)=4.3822023.12 | 16.78 | 0.519 | 0.57 |