To address the above challenges, this paper presents a novel framework that learns a density space from the scenes to guide the construction of a point-based renderer, dubbed as DGNR (Density-Guided Neural  ...  Despite the recent success of Neural Radiance Field (NeRF), it is still challenging to render large-scale driving scenes with long trajectories, particularly when the rendering quality and efficiency are  ...  CONCLUSION This paper proposed an effective density-guided neural rendering approach for large-scale driving scenes.  ...