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arXiv · 2607.12214

Robust 4D Driving Scene Reconstruction from Imperfect Visual Priors

Xiaoyun Dong·Qian Xu·Yun Wang·Yang Lu·Jen-Ming Wu·Jianping Wang
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Abstract

Reconstructing 4D driving scenes in the wild (e.g., internet and AI-generated videos) is critical for diverse autonomous driving simulation. While recent Gaussian Scene Graph (GSG) methods achieve impressive visual quality, they heavily rely on precise priors, such as accurate camera poses and LiDAR depth, or manual annotations. When initialized with noisy priors estimated from in-the-wild videos, existing GSG methods suffer from optimization ambiguity (e.g., entangling camera and agent poses) and topological failures (e.g., missing objects), causing severe rendering artifacts. To enable robust in-the-wild reconstruction, we introduce Adaptive Gaussian Graph (AGG), a self-correcting 4D framework. Our Semantically-Guided Tick-Tock Strategy leverages 2D foundation features to explicitly decouple static background and camera pose updates from dynamic agent learning. Concurrently, our Adaptive Topology Evolution module actively rectifies graph structures by spawning missing agents, reassigning misclassified Gaussians, and pruning false positives. To rigorously evaluate this in-the-wild setting, we introduce Wild-30, a challenging benchmark of internet and generative videos. Extensive experiments on KITTI and Wild-30 validate that AGG consistently outperforms state-of-the-art approaches in visual fidelity and robustness under noisy priors.

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Xiaoyun Dong, Qian Xu, Yun Wang, Yang Lu, Jen-Ming Wu, Jianping Wang. 2026-07-29. Robust 4D Driving Scene Reconstruction from Imperfect Visual Priors. https://arxiv.org/abs/2607.12214

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