HDGS: Hierarchical Dynamic Gaussian Splatting for Urban Driving Scenes

Abstract

This paper tackles the challenging task of achieving storage-efficient yet high-fidelity motion representation in large-scale dynamic 3D Gaussian Splatting. Our motivation stems from the truth that existing urban-scale methods, which rely on massive and unstructured individual Gaussians for scene modeling, face a critical scalability bottleneck. Inspired by recent advances in the 3DGS-based compression beyond autonomous driving, we address this challenge by leveraging the compression capability of anchor-driven methods. However, this is non-trivial as our exploratory experiments reveal that the direct application of this paradigm to dynamic, large-scale urban scenes results in performance degradation. We attribute this phenomenon to the hierarchical anchor design that severely loses dynamic information. To this end, we propose Hierarchical Dynamic Gaussian Splatting (HDGS), a novel framework designed to adapt the anchor-based Gaussian paradigm to 4D urban environments. We first establish a local support network to reinforce inter-anchor consistency, mitigating geometric and appearance fractures caused by supervision attenuation in deep hierarchies. Then, we handle heterogeneous object motion via coarse-to-fine decomposition, where high-level anchors model coarse dynamics and low-level anchors refine them with residual deformations. Third, we introduce a hybrid supervision scheme that fuses global geometric constraints and local pixel-level cues to alleviate geometrically inconsistent reconstruction under sparse LiDAR. Extensive experiments show that HDGS reduces storage by 69.0% while maintaining or even improving rendering fidelity compared to state-of-the-art methods.