{"id":"https://openalex.org/W4413945968","doi":"https://doi.org/10.1109/icra55743.2025.11127897","title":"FreeDriveRF: Monocular RGB Dynamic NeRF Without Poses for Autonomous Driving via Point-Level Dynamic-Static Decoupling","display_name":"FreeDriveRF: Monocular RGB Dynamic NeRF Without Poses for Autonomous Driving via Point-Level Dynamic-Static Decoupling","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413945968","doi":"https://doi.org/10.1109/icra55743.2025.11127897"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11127897","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127897","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5109305284","display_name":"Yue Wen","orcid":null},"institutions":[{"id":"https://openalex.org/I1327237609","display_name":"Ministry of Education of the People's Republic of China","ror":"https://ror.org/01mv9t934","country_code":"CN","type":"funder","lineage":["https://openalex.org/I1327237609","https://openalex.org/I4210127390"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yue Wen","raw_affiliation_strings":["Shanghai Engineering Research Center of Intelligent Control and Management, Shanghai Jiao Tong University,Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education,Department of Automation, Key Laboratory of System Control and Information Processing of Ministry of Education,Shanghai,China,200240"],"affiliations":[{"raw_affiliation_string":"Shanghai Engineering Research Center of Intelligent Control and Management, Shanghai Jiao Tong University,Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education,Department of Automation, Key Laboratory of System Control and Information Processing of Ministry of Education,Shanghai,China,200240","institution_ids":["https://openalex.org/I1327237609"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012490798","display_name":"Liang Song","orcid":"https://orcid.org/0000-0002-4992-7320"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liang Song","raw_affiliation_strings":["Dimanshen Technology Co., Ltd. specializes in 3D SLAM and robotic vision fusion technology, offering all-terrain intelligent robotic solutions for smart security and smart campus applications"],"affiliations":[{"raw_affiliation_string":"Dimanshen Technology Co., Ltd. specializes in 3D SLAM and robotic vision fusion technology, offering all-terrain intelligent robotic solutions for smart security and smart campus applications","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100704424","display_name":"Yijia Liu","orcid":"https://orcid.org/0000-0001-6311-9955"},"institutions":[{"id":"https://openalex.org/I25757504","display_name":"China University of Mining and Technology","ror":"https://ror.org/01xt2dr21","country_code":"CN","type":"education","lineage":["https://openalex.org/I25757504"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yijia Liu","raw_affiliation_strings":["Engineering Research Center of Intelligent Control for Underground Space, Ministry of Education, School of Information and Control Engineering, Advanced Robotics Research Center, China University of Mining and Technology,Xuzhou,China,221116"],"affiliations":[{"raw_affiliation_string":"Engineering Research Center of Intelligent Control for Underground Space, Ministry of Education, School of Information and Control Engineering, Advanced Robotics Research Center, China University of Mining and Technology,Xuzhou,China,221116","institution_ids":["https://openalex.org/I25757504"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101112854","display_name":"Siting Zhu","orcid":"https://orcid.org/0009-0009-9521-2682"},"institutions":[{"id":"https://openalex.org/I1327237609","display_name":"Ministry of Education of the People's Republic of China","ror":"https://ror.org/01mv9t934","country_code":"CN","type":"funder","lineage":["https://openalex.org/I1327237609","https://openalex.org/I4210127390"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Siting Zhu","raw_affiliation_strings":["Shanghai Engineering Research Center of Intelligent Control and Management, Shanghai Jiao Tong University,Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education,Department of Automation, Key Laboratory of System Control and Information Processing of Ministry of Education,Shanghai,China,200240"],"affiliations":[{"raw_affiliation_string":"Shanghai Engineering Research Center of Intelligent Control and Management, Shanghai Jiao Tong University,Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education,Department of Automation, Key Laboratory of System Control and Information Processing of Ministry of Education,Shanghai,China,200240","institution_ids":["https://openalex.org/I1327237609"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021924831","display_name":"Yanzi Miao","orcid":"https://orcid.org/0000-0002-2688-7477"},"institutions":[{"id":"https://openalex.org/I25757504","display_name":"China University of Mining and Technology","ror":"https://ror.org/01xt2dr21","country_code":"CN","type":"education","lineage":["https://openalex.org/I25757504"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanzi Miao","raw_affiliation_strings":["Engineering Research Center of Intelligent Control for Underground Space, Ministry of Education, School of Information and Control Engineering, Advanced Robotics Research Center, China University of Mining and Technology,Xuzhou,China,221116"],"affiliations":[{"raw_affiliation_string":"Engineering Research Center of Intelligent Control for Underground Space, Ministry of Education, School of Information and Control Engineering, Advanced Robotics Research Center, China University of Mining and Technology,Xuzhou,China,221116","institution_ids":["https://openalex.org/I25757504"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086631395","display_name":"Lijun Han","orcid":"https://orcid.org/0000-0002-6262-2388"},"institutions":[{"id":"https://openalex.org/I1327237609","display_name":"Ministry of Education of the People's Republic of China","ror":"https://ror.org/01mv9t934","country_code":"CN","type":"funder","lineage":["https://openalex.org/I1327237609","https://openalex.org/I4210127390"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lijun Han","raw_affiliation_strings":["Shanghai Engineering Research Center of Intelligent Control and Management, Shanghai Jiao Tong University,Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education,Department of Automation, Key Laboratory of System Control and Information Processing of Ministry of Education,Shanghai,China,200240"],"affiliations":[{"raw_affiliation_string":"Shanghai Engineering Research Center of Intelligent Control and Management, Shanghai Jiao Tong University,Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education,Department of Automation, Key Laboratory of System Control and Information Processing of Ministry of Education,Shanghai,China,200240","institution_ids":["https://openalex.org/I1327237609"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101771284","display_name":"Hesheng Wang","orcid":"https://orcid.org/0000-0003-2313-1823"},"institutions":[{"id":"https://openalex.org/I1327237609","display_name":"Ministry of Education of the People's Republic of China","ror":"https://ror.org/01mv9t934","country_code":"CN","type":"funder","lineage":["https://openalex.org/I1327237609","https://openalex.org/I4210127390"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hesheng Wang","raw_affiliation_strings":["Shanghai Engineering Research Center of Intelligent Control and Management, Shanghai Jiao Tong University,Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education,Department of Automation, Key Laboratory of System Control and Information Processing of Ministry of Education,Shanghai,China,200240"],"affiliations":[{"raw_affiliation_string":"Shanghai Engineering Research Center of Intelligent Control and Management, Shanghai Jiao Tong University,Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education,Department of Automation, Key Laboratory of System Control and Information Processing of Ministry of Education,Shanghai,China,200240","institution_ids":["https://openalex.org/I1327237609"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5109305284"],"corresponding_institution_ids":["https://openalex.org/I1327237609"],"apc_list":null,"apc_paid":null,"fwci":5.2802,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.95823858,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"13950","last_page":"13956"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12153","display_name":"Advanced Optical Sensing Technologies","score":0.9868999719619751,"subfield":{"id":"https://openalex.org/subfields/3105","display_name":"Instrumentation"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T12153","display_name":"Advanced Optical Sensing Technologies","score":0.9868999719619751,"subfield":{"id":"https://openalex.org/subfields/3105","display_name":"Instrumentation"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10638","display_name":"Optical measurement and interference techniques","score":0.9810000061988831,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9745000004768372,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/decoupling","display_name":"Decoupling (probability)","score":0.643042802810669},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5649633407592773},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.4451867938041687},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4113251566886902},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.40415510535240173},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4024549722671509},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.36271941661834717},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.26126575469970703},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19380289316177368},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.15168792009353638},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.056570231914520264}],"concepts":[{"id":"https://openalex.org/C205606062","wikidata":"https://www.wikidata.org/wiki/Q5249645","display_name":"Decoupling (probability)","level":2,"score":0.643042802810669},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5649633407592773},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.4451867938041687},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4113251566886902},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.40415510535240173},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4024549722671509},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.36271941661834717},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.26126575469970703},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19380289316177368},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.15168792009353638},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.056570231914520264},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11127897","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127897","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W2150066425","https://openalex.org/W2471962767","https://openalex.org/W2519683295","https://openalex.org/W2962793285","https://openalex.org/W2963150697","https://openalex.org/W3035172746","https://openalex.org/W3109585842","https://openalex.org/W3109908659","https://openalex.org/W3114462840","https://openalex.org/W3153220274","https://openalex.org/W3184952021","https://openalex.org/W3215769467","https://openalex.org/W4200382072","https://openalex.org/W4214520160","https://openalex.org/W4214564845","https://openalex.org/W4214731463","https://openalex.org/W4214748949","https://openalex.org/W4307783807","https://openalex.org/W4312234520","https://openalex.org/W4312878643","https://openalex.org/W4313031684","https://openalex.org/W4385318467","https://openalex.org/W4386072012","https://openalex.org/W4386075787","https://openalex.org/W4386076168","https://openalex.org/W4386076687","https://openalex.org/W4390871689","https://openalex.org/W4390872506","https://openalex.org/W4391516317","https://openalex.org/W4402727597","https://openalex.org/W4402754225"],"related_works":["https://openalex.org/W4313561376","https://openalex.org/W3103825105","https://openalex.org/W3027880158","https://openalex.org/W3207533102","https://openalex.org/W1617565119","https://openalex.org/W160381218","https://openalex.org/W2512958550","https://openalex.org/W2004102934","https://openalex.org/W4366455350","https://openalex.org/W2329266651"],"abstract_inverted_index":{"Dynamic":[0,17],"scene":[1,13,28,140,160],"reconstruction":[2],"for":[3,162],"autonomous":[4,163],"driving":[5,57],"enables":[6],"vehicles":[7],"to":[8,44,114,127],"perceive":[9],"and":[10,40,72,86,96,136,148],"interpret":[11],"complex":[12],"changes":[14],"more":[15],"precisely.":[16],"Neural":[18],"Radiance":[19],"Fields":[20],"(NeRFs)":[21],"have":[22],"recently":[23],"shown":[24],"promising":[25],"capability":[26],"in":[27,98,158],"modeling.":[29],"However,":[30],"many":[31],"existing":[32],"methods":[33],"rely":[34],"heavily":[35],"on":[36,145],"accurate":[37],"poses":[38,66],"inputs":[39],"multi-sensor":[41],"data,":[42],"leading":[43],"increased":[45],"system":[46],"complexity.":[47],"To":[48,88],"address":[49],"this,":[50],"we":[51,101,122],"propose":[52],"FreeDriveRF,":[53],"which":[54],"reconstructs":[55],"dynamic":[56,71,106,118,125,159],"scenes":[58],"using":[59,80],"only":[60],"sequential":[61],"RGB":[62],"images":[63],"without":[64],"requiring":[65],"inputs.":[67],"We":[68],"innovatively":[69],"decouple":[70],"static":[73],"parts":[74],"at":[75,170],"the":[76,90,117,129,134,146,152],"early":[77],"sampling":[78],"level":[79],"semantic":[81],"supervision,":[82],"mitigating":[83],"image":[84],"blurring":[85],"artifacts.":[87],"overcome":[89],"challenges":[91],"posed":[92],"by":[93],"object":[94,107],"motion":[95],"occlusion":[97],"monocular":[99],"camera,":[100],"introduce":[102],"a":[103],"warped":[104],"ray-guided":[105],"rendering":[108],"consistency":[109],"loss,":[110],"utilizing":[111],"optical":[112],"flow":[113,126],"better":[115],"constrain":[116,128],"modeling":[119,161],"process.":[120],"Additionally,":[121],"incorporate":[123],"estimated":[124],"pose":[130],"optimization":[131],"process,":[132],"improving":[133],"stability":[135],"accuracy":[137],"of":[138,155],"unbounded":[139],"reconstruction.":[141],"Extensive":[142],"experiments":[143],"conducted":[144],"KITTI":[147],"Waymo":[149],"datasets":[150],"demonstrate":[151],"superior":[153],"performance":[154],"our":[156],"method":[157],"driving.":[164],"Our":[165],"implementation":[166],"will":[167],"be":[168],"available":[169],"https://github.com/IRMVLab/FreeDriveRF.":[171]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3}],"updated_date":"2026-03-13T16:22:10.518609","created_date":"2025-10-10T00:00:00"}
