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+---
+layout: publication
+permalink: /publications/splatad/
+title: "SplatAD: Real-Time Lidar and Camera Rendering with 3D Gaussian Splatting for Autonomous Driving"
+venue: ARXIV
+authors:
+  - Hess
+  - Lindstrom
+  - Fatemi
+  - Petersson
+  - Svensson
+code: https://github.com/carlinds/splatad
+date: 2024-11-30 00:00:00 +00:00
+arxiv: https://arxiv.org/abs/2411.XXXXX
+n_equal_contrib: 2
+thumbnail-video: 
+---
+<div style="display: flex; justify-content: space-around; margin-bottom: 1em; margin-top: 0.5em; width=100%">
+<figure class="figure__background">
+  <img style="width: 100%; margin: 0 auto; mix-blend-mode: multiply;" src="front-fig-stacked.jpg"/>
+  <figcaption><b>Fig 1.:</b> SplatAD is the first method capable of realistic camera and lidar rendering using 3D Gaussian Splatting. It enables real-time, high-quality rendering, and can reach competitive performance within minutes of training.</figcaption>
+</figure>
+</div>
+
+---
+
+# Abstract
+Ensuring the safety of autonomous robots, such as self-driving vehicles, requires extensive testing across diverse driving scenarios. Simulation is a key ingredient for conducting such testing in a cost-effective and scalable way. Neural rendering methods have gained popularity, as they can build simulation environments from collected logs in a data-driven manner. However, existing neural radiance field (NeRF) methods for sensor-realistic rendering of camera and lidar data suffer from low rendering speeds, limiting their applicability for large-scale testing. While 3D Gaussian Splatting (3DGS) enables real-time rendering, current methods are limited to camera data and are unable to render lidar data essential for autonomous driving. To address these limitations, we propose SplatAD, the first 3DGS-based method for realistic, real-time rendering of dynamic scenes for both camera and lidar data. SplatAD accurately models key sensor-specific phenomena such as rolling shutter effects, lidar intensity, and lidar ray dropouts, using purpose-built algorithms to optimize rendering efficiency. Evaluation across three autonomous driving datasets demonstrates that SplatAD achieves state-of-the-art rendering quality with up to +2 PSNR for NVS and +3 PSNR for reconstruction while increasing rendering speed over NeRF-based methods by an order of magnitude. Code to be released upon publication.
+
+
+---
+
+# Videos
+
+## Image and lidar rendering
+SplatAD can render both images and lidar point clouds. The videos demonstrate rendered images, bird's-eye views of the rendered point cloud, and point clouds overlaid on images, with points colored based on range and intensity.
+<br><br>
+Note: Videos have been compressed to reduce file size. 
+<div class="video-grid-1" style="display: grid; grid-template-columns: 7fr 4fr; grid-template-rows: 1fr; gap: 10px; width: 100%;">
+  <video controls autoplay loop muted style="width: 100%;">
+    <source src="videos/multi/rgb.mp4" type="video/mp4">
+    Your browser does not support the video tag.
+  </video>
+  <video controls autoplay loop muted style="width: 100%;">
+    <source src="videos/multi/pc_bev.mp4" type="video/mp4">
+    Your browser does not support the video tag.
+  </video>
+</div>
+<div class="video-grid-2" style="display: grid; grid-template-columns: 1fr 1fr; grid-template-rows: 1fr; gap: 10px; width: 100%;">
+  <video controls autoplay loop muted style="width: 100%;">
+    <source src="videos/multi/pc_overlay_range.mp4" type="video/mp4">
+    Your browser does not support the video tag.
+  </video>
+  <video controls autoplay loop muted style="width: 100%;">
+    <source src="videos/multi/pc_overlay_intensity.mp4" type="video/mp4">
+    Your browser does not support the video tag.
+  </video>
+</div>
+
+## Sequence browser
+<div id="dataset-controls" style="margin-top: 20px; text-align: center;">
+  <div class="buttons is-centered">
+    <button class="button is-medium is-rounded dataset-btn active" data-dataset="PandaSet">PandaSet</button>
+    <button class="button is-medium is-rounded dataset-btn" data-dataset="Argoverse2">Argoverse2</button>
+    <button class="button is-medium is-rounded dataset-btn" data-dataset="nuScenes">nuScenes</button>
+  </div>
+</div>
+<div id="scene-controls" style="margin-top: 20px; text-align: center;">
+  <div class="buttons is-centered">
+    <!-- Buttons will be dynamically added here -->
+  </div>
+</div>
+
+<br>
+Note: Videos have been compressed to reduce file size. 
+<div class="video-container">
+  <video id="dataset-scene-browser-video" controls autoplay loop muted style="width: 100%;">
+    Your browser does not support the video tag.
+  </video>
+</div>
+
+<script>
+  document.addEventListener('DOMContentLoaded', function() {
+    const video = document.getElementById('dataset-scene-browser-video');
+    const dataset_controls = document.getElementById('dataset-controls');
+    const scene_controls = document.getElementById('scene-controls');
+    let activeDataset = 'PandaSet';
+    const dataset_scene_map = {
+      'PandaSet': ['001', '011', '016', '053', '106', '123', '158'],
+      'Argoverse2': ['0b86f508', '2f2321d2', '3bffdcff', '280269f9'],
+      'nuScenes': ['0039', '0061', '0104', '0193'],
+    };
+    let scenes = dataset_scene_map[activeDataset];
+    let activeScene = scenes[0];
+
+    function preloadImage(url) {
+      return new Promise((resolve, reject) => {
+        const img = new Image();
+        img.onload = () => resolve(url);
+        img.onerror = reject;
+        img.src = url;
+      });
+    }
+  
+    // Create buttons
+    scenes.forEach(scene => {
+      const button = document.createElement('button');
+      button.className = 'button is-medium is-rounded scene-btn';
+      button.textContent = scene;
+      button.dataset.scene = scene;
+      scene_controls.querySelector('.buttons').appendChild(button);
+    });
+  
+    // Set initial active button
+    scene_controls.querySelector(`button[data-scene="${activeScene}"]`).classList.add('active');
+  
+    // Scene button click handler
+    scene_controls.addEventListener('click', (e) => {
+      if (e.target.matches('button')) {
+        scene_controls.querySelector('.active').classList.remove('active');
+        e.target.classList.add('active');
+        activeScene = e.target.dataset.scene;
+        updateVideo();
+      }
+    });
+
+    // Dataset button click handler
+    dataset_controls.addEventListener('click', (e) => {
+      if (e.target.matches('button')) {
+        dataset_controls.querySelector('.active').classList.remove('active');
+        e.target.classList.add('active');
+        activeDataset = e.target.textContent;
+        activeScene = dataset_scene_map[activeDataset][0];
+        updateButtons(); 
+        updateVideo();
+      }
+    });
+  
+    async function updateButtons() {
+      const buttonDiv = document.getElementById('scene-controls');
+      const buttons = buttonDiv.querySelectorAll('button');
+      buttons.forEach(button => button.remove());
+
+      scenes = dataset_scene_map[activeDataset];
+      scenes.forEach(scene => {
+        const button = document.createElement('button');
+        button.className = 'button is-medium is-rounded scene-btn';
+        button.textContent = scene;
+        button.dataset.scene = scene;
+        scene_controls.querySelector('.buttons').appendChild(button);
+      });
+
+      // Set initial active button
+      scene_controls.querySelector(`button[data-scene="${activeScene}"]`).classList.add('active');
+    }
+
+    async function updateVideo() {
+      const videoSrc = `videos/${activeDataset}/${activeScene}.mp4`;
+      try {
+        video.src = videoSrc;
+        video.load();
+        video.play().catch(error => console.error('Error playing video:', error));
+      } catch (error) {
+        console.error('Error loading poster image:', error);
+        video.src = videoSrc;
+        video.load();
+        video.play().catch(error => console.error('Error playing video:', error));
+      }
+    }
+  
+    // Initialize video
+    updateVideo();
+  });
+</script>
+
+## Trajectory editing
+Note: Videos have been compressed to reduce file size. 
+<video controls autoplay loop muted style="width: 100%;">
+  <source src="videos/edits/edits.mp4" type="video/mp4">
+  Your browser does not support the video tag.
+</video>
+
+---
+
+# Method
+<div style="display: flex; justify-content: space-around; margin-bottom: 1em; margin-top: 0.5em; width=100%">
+<figure class="figure__background">
+  <img style="width: 100%; margin: 0 auto; mix-blend-mode: multiply;" src="methodoverview.png"/>
+</figure>
+</div>
+
+SplatAD can render both sensor-realistic lidar and camera data from the same 3D Gaussian representation. For lidar rendering, we:
+<ol>
+<li>Project the 3D Gaussians to spherical coordinates.</li>
+<li>Intersect Gaussians with non-equdistant tiles, matching to the lidar beam distribution.</li>
+<li>Rasterize depth and features for a non-linear grid of points, with rolling shutter compensation.</li>
+<li>Decode features to lidar intensity and lidar ray drop probability.</li>
+</ol> 
+For efficiency, we implement these operations using custom CUDA kernels. 
+
+For the camera rendering, we modify the standard 3DGS pipeline:
+<ul>
+<li>Rasterize RGB and features, which are decoded to view-dependent colors using a small CNN.</li>
+<li>Apply rolling shutter compensation.</li>
+</ul>
+
+---
+
+# Comparisons
+
+<div style="display: flex; justify-content: space-around; margin-bottom: 1em; margin-top: 0.5em; width=100%">
+  {% include two_image_slider.html
+    left_image="pandaset_016_front_splatad.jpg"
+    right_image="pandaset_016_front_neurad.jpg"
+    width="50"
+    id="2"
+    max-width="1920px"
+    max-height="1080px"
+    caption="SplatAD vs NeuRAD NVS rendering on the PandaSet dataset."
+  %}
+</div>
+
+<div style="display: flex; justify-content: space-around; margin-bottom: 1em; margin-top: 0.5em; width=100%">
+  {% include two_image_slider.html
+    left_image="argoverse2_front_splatad.jpg"
+    right_image="argoverse2_front_streetgs.jpg"
+    width="25"
+    id="3"
+    linkid="4"
+    max-width="1550px"
+    max-height="1798px"
+    caption="SplatAD vs Street Gaussians NVS rendering on the Argoverse2 dataset."
+  %}
+    {% include two_image_slider.html
+    left_image="argoverse2_front_2_splatad.jpg"
+    right_image="argoverse2_front_2_neurad.jpg"
+    width="25"
+    id="4"
+    linkid="3"
+    max-width="1550px"
+    max-height="1798px"
+    caption="SplatAD vs NeuRAD NVS rendering on the Argoverse2 dataset."
+  %}
+</div>
+
+<div style="display: flex; justify-content: space-around; margin-bottom: 1em; margin-top: 0.5em; width=100%">
+  {% include two_image_slider.html
+    left_image="nuscenes_front_splatad.jpg"
+    right_image="nuscenes_front_streetgs.jpg"
+    width="50"
+    id="5"
+    max-width="1600px"
+    max-height="900px"
+    caption="SplatAD vs Street Gaussians NVS rendering on the nuScenes dataset."
+  %}
+</div>
+
+<div style="display: flex; justify-content: space-around; margin-bottom: 1em; margin-top: 0.5em;">
+<figure class="figure__background">
+  <img style="width: 100%; margin: 0 auto; mix-blend-mode: multiply;" src="qualitative-comparison.jpg"/>
+  <figcaption><b>Fig 6.:</b> SplatAD learns both sharp and accurate geometries, in constrast to NeuRADs oversmoothed results, and Steet Gaussians cutting through objects due to erroneous line-of-sight. </figcaption>
+</figure>
+</div>
+
+---
+
+# BibTeX
+```bibtex
+@article{hess2024splatad,
+  title        = {SplatAD: Real-Time Lidar and Camera Rendering with 3D Gaussian Splatting for Autonomous Driving},
+  author       = {Hess, Georg and Lindstr{\"o}m, Carl and Fatemi, Maryam and Petersson, Christoffer and Svensson, Lennart},
+  journal      = {arXiv preprint arXiv:2411:XXXXX},
+  year         = {2024}
+}
+```
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diff --git a/_sass/buttons.scss b/_sass/buttons.scss
new file mode 100644
index 0000000..7f5a866
--- /dev/null
+++ b/_sass/buttons.scss
@@ -0,0 +1,46 @@
+
+.button {
+    background-color: #e4e2e2;
+    border-color: #ffffff;
+    border-width: 1px;
+    color: #363636;
+    cursor: pointer;
+    justify-content: center;
+    padding-bottom: calc(.5em - 1px);
+    padding-left: 1em;
+    padding-right: 1em;
+    padding-top: calc(.5em - 1px);
+    text-align: center;
+    white-space: nowrap
+}
+
+.button.is-rounded {
+    border-radius: 2px;
+    padding-left: calc(1em + .25em);
+    padding-right: calc(1em + .25em)
+}
+
+.button.is-medium {
+    font-size: 1.0rem
+}
+
+.button.is-hovered,.button:hover {
+    border-color: #b5b5b5;
+    color: #363636
+}
+
+.button.active {
+    border-color: #000000;
+    color: #363636
+}
+
+.buttons {
+    align-items: center;
+    display: flex;
+    flex-wrap: wrap;
+    justify-content: flex-start
+}
+
+.buttons.is-centered {
+    justify-content: center
+}
diff --git a/assets/css/main.scss b/assets/css/main.scss
index 2d02102..66f33ee 100644
--- a/assets/css/main.scss
+++ b/assets/css/main.scss
@@ -13,6 +13,7 @@ search: false
 @import "author_list";
 @import "two_image_slider";
 @import "publication_cards";
+@import "buttons";
 
 .page .page__inner-wrap {
     margin-top: 0;