ReconDreamer: Crafting World Models for Driving Scene Reconstruction via Online Restoration

Chaojun Ni, Guosheng Zhao, Xiaofeng Wang, Zheng Zhu, Wenkang Qin, Guan Huang, Chen Liu, Yuyin Chen, Yida Wang, Xueyang Zhang, Yifei Zhan, Kun Zhan, Peng Jia, Xianpeng Lang, Xingang Wang, Wenjun Mei; Proceedings of the Computer Vision and Pattern Recognition Conference (CVPR), 2025, pp. 1559-1569

Closed-loop simulation is crucial for end-to-end autonomous driving. Existing sensor simulation methods (e.g., NeRF and 3DGS) reconstruct driving scenes based on conditions that closely mirror training data distributions. However, these methods struggle with rendering novel trajectories, such as lane changes. Recent work, DriveDreamer4D, has demonstrated that integrating world model knowledge alleviates these issues. Although the training-free integration approach is efficient, it still struggles to render larger maneuvers, such as multi-lane shifts.Therefore, we introduce ReconDreamer, which enhances driving scene reconstruction through incremental integration of world model knowledge. Specifically, based on the world model, DriveRestorer is proposed to mitigate ghosting artifacts via online restoration. Additionally, we propose the progressive data update strategy to ensure high-quality rendering for larger maneuvers. Notably, ReconDreamer is the first method to effectively render in large maneuvers (e.g., across multiple lanes, spanning up to 6 meters). Additionally, experimental results demonstrate that ReconDreamer outperforms Street Gaussians in the NTA-IoU, NTL-IoU, and FID, with a relative improvement by 24.87%, 6.72%, and 29.97%. Furthermore, ReconDreamer surpasses DriveDreamer4D with PVG during large maneuver rendering, as verified by a relative improvement of 195.87% in the NTA-IoU metric and a comprehensive user study.