Novel view synthesis is crucial in developing closed-loop autonomous driving simulation systems. The modern autonomous driving system typically employs multiple cameras to achieve wide perception, but this also introduces challenges for neural rendering, i.e., the color inconsistency among different cameras and the sparse observation in the side cameras. While NeRF-based methods offer solutions, their inefficiencies in rendering speed limit practical applications in simulation. Due to the inherent differences in reconstruction methods between NeRF and 3DGS, naively transferring NeRF’s multi-camera solution to 3DGS is ineffective. We propose MC-Gaussian, a real-time rendering solution for multi-camera settings based on 3D Gaussian representation. We introduce separate Gaussian models for the foreground and sky background, applying pose-conditioned color correction respectively to resolve color inconsistencies from different cameras. Additionally, we introduce the regularization terms of geometric consistency across cameras to alleviate the overfitting from sparse view observations. Our method achieves state-of-the-art results on static scenes from the Waymo and NuScenes datasets, producing high-fidelity and real-time rendering.
The high-definition video of our project presentation is here.
The code will be released after paper has been accepted.