ParkGaussian: Surround-view 3D Gaussian Splatting for Autonomous Parking

TL;DR

ParkGaussian introduces a novel 3D Gaussian Splatting framework tailored for parking scene reconstruction, significantly improving perception accuracy and downstream parking slot detection in complex, GPS-denied environments.

Contribution

It presents the first parking-specific 3D scene reconstruction benchmark and a new Gaussian Splatting-based method with slot-aware strategies for enhanced accuracy.

Findings

Achieves state-of-the-art reconstruction quality on ParkRecon3D

Enhances perception consistency for parking slot detection

Demonstrates robustness in crowded and GPS-denied scenarios

Abstract

Parking is a critical task for autonomous driving systems (ADS), with unique challenges in crowded parking slots and GPS-denied environments. However, existing works focus on 2D parking slot perception, mapping, and localization, 3D reconstruction remains underexplored, which is crucial for capturing complex spatial geometry in parking scenarios. Naively improving the visual quality of reconstructed parking scenes does not directly benefit autonomous parking, as the key entry point for parking is the slots perception module. To address these limitations, we curate the first benchmark named ParkRecon3D, specifically designed for parking scene reconstruction. It includes sensor data from four surround-view fisheye cameras with calibrated extrinsics and dense parking slot annotations. We then propose ParkGaussian, the first framework that integrates 3D Gaussian Splatting (3DGS) for parking scene reconstruction. To further improve the alignment between reconstruction and downstream parking slot detection, we introduce a slot-aware reconstruction strategy that leverages existing parking perception methods to enhance the synthesis quality of slot regions. Experiments on ParkRecon3D demonstrate that ParkGaussian achieves state-of-the-art reconstruction quality and better preserves perception consistency for downstream tasks. The code and dataset will be released at: https://github.com/wm-research/ParkGaussian