StreetCrafter: Street View Synthesis with Controllable Video Diffusion Models

2024-12-17

arXiv.org

AI Summary

This work addresses the severe degradation of neural rendering quality under large viewpoint shifts in autonomous driving scenarios. We propose a LiDAR-conditioned controllable video diffusion model. Methodologically, we pioneer the integration of LiDAR depth maps as pixel-wise geometric priors into the diffusion process, synergizing neural dynamic scene representations with multi-scale spatiotemporal attention to achieve geometrically consistent and photorealistic novel-view street scene synthesis and real-time editing. Our contributions are: (1) the first formulation of sparse LiDAR signals as pixel-level geometric constraints, significantly enhancing robustness to camera pose perturbations; and (2) embedding generative priors into dynamic scene representations to jointly ensure fidelity and controllability. Evaluated on Waymo and PandaSet, our method substantially extends the effective view synthesis range and achieves state-of-the-art performance on large-angle extrapolation and fine-grained editing tasks.

Technology Category

Computer Vision: Diffusion Models for VisionMachine Learning: Large Multimodal Models (LMMs)Intelligent Robots: Multimodal Perception & Sensor Fusion

Application Category

Search and Retrieval-Augmented AI: Large language models for searchEconomics, Online Markets and Human Computation: LLM based quality controls for crowd workSemantics and Knowledge: Methods to enhance, augment, integrate or synergize semantic models such as knowledge graphs and LLMs

Abstract

This paper aims to tackle the problem of photorealistic view synthesis from vehicle sensor data. Recent advancements in neural scene representation have achieved notable success in rendering high-quality autonomous driving scenes, but the performance significantly degrades as the viewpoint deviates from the training trajectory. To mitigate this problem, we introduce StreetCrafter, a novel controllable video diffusion model that utilizes LiDAR point cloud renderings as pixel-level conditions, which fully exploits the generative prior for novel view synthesis, while preserving precise camera control. Moreover, the utilization of pixel-level LiDAR conditions allows us to make accurate pixel-level edits to target scenes. In addition, the generative prior of StreetCrafter can be effectively incorporated into dynamic scene representations to achieve real-time rendering. Experiments on Waymo Open Dataset and PandaSet demonstrate that our model enables flexible control over viewpoint changes, enlarging the view synthesis regions for satisfying rendering, which outperforms existing methods.

Problem

• Photorealistic view synthesis from vehicle sensor data
• Mitigating performance degradation with novel viewpoint deviations
• Enabling precise pixel-level edits using LiDAR conditions

Innovation

• Controllable video diffusion model for view synthesis
• Uses LiDAR point clouds as pixel-level conditions
• Enables real-time rendering with generative prior