SEM-ROVER: Semantic Voxel-Guided Diffusion for Large-Scale Driving Scene Generation
Scalable generation of outdoor driving scenes requires 3D representations that remain consistent across multiple viewpoints and scale to large areas. Existing solutions either rely on image or video generative models distilled to 3D space, harming the geometric coherence and restricting the rendering to training views, or are limited to small-scale 3D scene or object-centric generation. In this work, we propose a 3D generative framework based on $Σ$-Voxfield grid, a discrete representation where each occupied voxel stores a fixed number of colorized surface samples. To generate this representation, we train a semantic-conditioned diffusion model that operates on local voxel neighborhoods ...
| Authors | Hiba Dahmani, Nathan Piasco, Moussab Bennehar et al. |
|---|---|
| Primary category | cs.CV |
| Published | 7 April 2026 |
| Last updated at source | 7 April 2026 |
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