# LiDAR-EVS: Enhance Extrapolated View Synthesis for 3D Gaussian Splatting with Pseudo-LiDAR Supervision

arXiv: https://arxiv.org/abs/2603.14763 · HTML: https://mlsanity.com/paper/2603.14763/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 32 of its 38 references that are in the map.
- First posted on arXiv 16 Mar 2026.

## Builds on (most cited first, 30 of 32)

- [3D Gaussian Splatting for Real-Time Radiance Field Rendering](https://mlsanity.com/paper/2308.04079/) (2023)
- [nuScenes: A multimodal dataset for autonomous driving](https://mlsanity.com/paper/1903.11027/) (2019)
- [SAM 2: Segment Anything in Images and Videos](https://mlsanity.com/paper/2408.00714/) (2024)
- [CARLA: An Open Urban Driving Simulator](https://mlsanity.com/paper/1711.03938/) (2017)
- [AirSim: High-Fidelity Visual and Physical Simulation for Autonomous Vehicles](https://mlsanity.com/paper/1705.05065/) (2017)
- [DrivingGaussian: Composite Gaussian Splatting for Surrounding Dynamic Autonomous Driving Scenes](https://mlsanity.com/paper/2312.07920/) (2023)
- [UniSim: A Neural Closed-Loop Sensor Simulator](https://mlsanity.com/paper/2308.01898/) (2023)
- [3D Gaussian Splatting as Markov Chain Monte Carlo](https://mlsanity.com/paper/2404.09591/) (2024)
- [PandaSet: Advanced Sensor Suite Dataset for Autonomous Driving](https://mlsanity.com/paper/2112.12610/) (2021)
- [OmniRe: Omni Urban Scene Reconstruction](https://mlsanity.com/paper/2408.16760/) (2024)
- [SUDS: Scalable Urban Dynamic Scenes](https://mlsanity.com/paper/2303.14536/) (2023)
- [NeuRAD: Neural Rendering for Autonomous Driving](https://mlsanity.com/paper/2311.15260/) (2023)
- [Periodic Vibration Gaussian: Dynamic Urban Scene Reconstruction and Real-time Rendering](https://mlsanity.com/paper/2311.18561/) (2023)
- [Learning to Generate Realistic LiDAR Point Clouds](https://mlsanity.com/paper/2209.03954/) (2022)
- [Cosmos-Drive-Dreams: Scalable Synthetic Driving Data Generation with World Foundation Models](https://mlsanity.com/paper/2506.09042/) (2025)
- [UltraLiDAR: Learning Compact Representations for LiDAR Completion and Generation](https://mlsanity.com/paper/2311.01448/) (2023)
- [SplatAD: Real-Time Lidar and Camera Rendering with 3D Gaussian Splatting for Autonomous Driving](https://mlsanity.com/paper/2411.16816/) (2024)
- [DropGaussian: Structural Regularization for Sparse-view Gaussian Splatting](https://mlsanity.com/paper/2504.00773/) (2025)
- [How Simulation Helps Autonomous Driving:A Survey of Sim2real, Digital Twins, and Parallel Intelligence](https://mlsanity.com/paper/2305.01263/) (2023)
- [LiDAR-NeRF: Novel LiDAR View Synthesis via Neural Radiance Fields](https://mlsanity.com/paper/2304.10406/) (2023)
- [Augmented LiDAR Simulator for Autonomous Driving](https://mlsanity.com/paper/1811.07112/) (2018)
- [LODGE: Level-of-Detail Large-Scale Gaussian Splatting with Efficient Rendering](https://mlsanity.com/paper/2505.23158/) (2025)
- [LiDAR-GS:Real-time LiDAR Re-Simulation using Gaussian Splatting](https://mlsanity.com/paper/2410.05111/) (2024)
- [GS-LiDAR: Generating Realistic LiDAR Point Clouds with Panoramic Gaussian Splatting](https://mlsanity.com/paper/2501.13971/) (2025)
- [LiDAR-RT: Gaussian-based Ray Tracing for Dynamic LiDAR Re-simulation](https://mlsanity.com/paper/2412.15199/) (2024)
- [D2GS: Depth-and-Density Guided Gaussian Splatting for Stable and Accurate Sparse-View Reconstruction](https://mlsanity.com/paper/2510.08566/) (2025)
- [Para-Lane: Multi-Lane Dataset Registering Parallel Scans for Benchmarking Novel View Synthesis](https://mlsanity.com/paper/2502.15635/) (2025)
- [Prior-Enhanced Gaussian Splatting for Dynamic Scene Reconstruction from Casual Video](https://mlsanity.com/paper/2512.11356/) (2025)
- [ExtraGS: Geometric-Aware Trajectory Extrapolation with Uncertainty-Guided Generative Priors](https://mlsanity.com/paper/2508.15529/) (2025)
- [LiDAR-GS++:Improving LiDAR Gaussian Reconstruction via Diffusion Priors](https://mlsanity.com/paper/2511.12304/) (2025)

## Built on by (most cited first, 1 of 1)

- [RealityBridge: Bridging Editable 3D Gaussian Splatting Driving Simulations and Real-World Videos](https://mlsanity.com/paper/2606.16278/) (2026)

## Abstract (arXiv)

3D Gaussian Splatting (3DGS) has emerged as a powerful technique for real-time LiDAR and camera synthesis in autonomous driving simulation. However, simulating LiDAR with 3DGS remains challenging for extrapolated views beyond the training trajectory, as existing methods are typically trained on single-traversal sensor scans, suffer from severe overfitting and poor generalization to novel ego-vehicle paths. To enable reliable simulation of LiDAR along unseen driving trajectories without external multi-pass data, we present LiDAR-EVS, a lightweight framework for robust extrapolated-view LiDAR simulation in autonomous driving. Designed to be plug-and-play, LiDAR-EVS readily extends to diverse LiDAR sensors and neural rendering baselines with minimal modification. Our framework comprises two key components: (1) pseudo extrapolated-view point cloud supervision with multi-frame LiDAR fusion, view transformation, occlusion curling, and intensity adjustment; (2) spatially-constrained dropout regularization that promotes robustness to diverse trajectory variations encountered in real-world driving. Extensive experiments demonstrate that LiDAR-EVS achieves SOTA performance on extrapolated-view LiDAR synthesis across three datasets, making it a promising tool for data-driven simulation, closed-loop evaluation, and synthetic data generation in autonomous driving systems.