One World, Dual Timeline: Decoupled Spatio-Temporal Gaussian Scene Graph for 4D Cooperative Driving Reconstruction
Reconstructing dynamic scenes from Vehicle-to-Infrastructure Cooperative Autonomous Driving (VICAD) data is fundamentally complicated by temporal asynchrony: vehicle and infrastructure cameras operate on independent clocks, capturing the same dynamic agent such as cars and pedestrians at different physical times. Existing Gaussian Scene Graph methods implicitly assume synchronized observations and assign a single pose per agent per frame, which is an assumption that breaks in cooperative settings, where the resulting gradient conflicts cause severe ghosting on dynamic agents. We identify this as a representation-level failure, not an optimization artifact: we prove that any single-timelin...
| Authors | Yulong Chen, Xiaoyun Dong, Haoyu Zhang et al. |
|---|---|
| Primary category | cs.CV |
| Published | 8 May 2026 |
| Last updated at source | 11 May 2026 |
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