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.