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原文摘要

Dynamic driving scene reconstruction has made remarkable strides in recent years by leveraging generative priors, particularly in the quality of novel trajectory rendering. Nevertheless, a significant gap remains between the generated data and real-world sensor observations, severely hindering further improvements in reconstruction fidelity. In this paper, we present ReconDreamer#, a self-evolving framework that synergizes reconstruction and generation for dynamic driving scenes, which substantially bridges the gap between synthesized novel trajectory data and recorded real-world observations. Within this self-evolving closed-loop framework, the generative and reconstruction models mutually reinforce each other through iterative refinement, ultimately yielding a significant enhancement in the 3D representation capability of the reconstruction model. Additionally, we introduce a geometry-prior-based adaptive ground model to further enhance the rendering quality of the reconstruction model. To validate the effectiveness of the proposed method, we conduct comprehensive evaluations on Waymo, nuScenes, PandaSet, and EUVS benchmarks. Specifically on Waymo, at a 6-m lateral shift, ReconDreamer# improves NTA-IoU and NTL-IoU by 8.8% and 3.0%, respectively, and reduces FID by 15.1% relative to ReconDreamer++.