{"ID":2867510,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2509.17390","arxiv_id":"2509.17390","title":"FGGS-LiDAR: Ultra-Fast, GPU-Accelerated Simulation from General 3DGS Models to LiDAR","abstract":"While 3D Gaussian Splatting (3DGS) has revolutionized photorealistic rendering, its vast ecosystem of assets remains incompatible with high-performance LiDAR simulation, a critical tool for robotics and autonomous driving. We present \\textbf{FGGS-LiDAR}, a framework that bridges this gap with a truly plug-and-play approach. Our method converts \\textit{any} pretrained 3DGS model into a high-fidelity, watertight mesh without requiring LiDAR-specific supervision or architectural alterations. This conversion is achieved through a general pipeline of volumetric discretization and Truncated Signed Distance Field (TSDF) extraction. We pair this with a highly optimized, GPU-accelerated ray-casting module that simulates LiDAR returns at over 500 FPS. We validate our approach on indoor and outdoor scenes, demonstrating exceptional geometric fidelity; By enabling the direct reuse of 3DGS assets for geometrically accurate depth sensing, our framework extends their utility beyond visualization and unlocks new capabilities for scalable, multimodal simulation. Our open-source implementation is available at https://github.com/TATP-233/FGGS-LiDAR.","short_abstract":"While 3D Gaussian Splatting (3DGS) has revolutionized photorealistic rendering, its vast ecosystem of assets remains incompatible with high-performance LiDAR simulation, a critical tool for robotics and autonomous driving. We present \\textbf{FGGS-LiDAR}, a framework that bridges this gap with a truly plug-and-play appr...","url_abs":"https://arxiv.org/abs/2509.17390","url_pdf":"https://arxiv.org/pdf/2509.17390v1","authors":"[\"Junzhe Wu\",\"Yufei Jia\",\"Yiyi Yan\",\"Zhixing Chen\",\"Tiao Tan\",\"Zifan Wang\",\"Guangyu Wang\"]","published":"2025-09-22T06:52:49Z","proceeding":"cs.RO","tasks":"[\"cs.RO\"]","methods":"[]","has_code":false,"code_links":[{"ID":609472,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_id":2867510,"paper_url":"https://arxiv.org/abs/2509.17390","paper_title":"FGGS-LiDAR: Ultra-Fast, GPU-Accelerated Simulation from General 3DGS Models to LiDAR","repo_url":"https://github.com/TATP-233/FGGS-LiDAR","is_official":false,"mentioned_in_paper":false,"mentioned_in_github":true,"github_stars":0}]}