LR-SGS: Robust LiDAR-Reflectance-Guided Salient Gaussian Splatting for Self-Driving Scene Reconstruction

ArXi:2603.12647v1 Announce Type: cross Recent 3D Gaussian Splatting (3DGS) methods have nstrated the feasibility of self-driving scene reconstruction and novel view synthesis. However, most existing methods either rely solely on cameras or use LiDAR only for Gaussian initialization or depth supervision, while the rich scene information contained in point clouds, such as reflectance, and the complementarity between LiDAR and RGB have not been fully exploited, leading to degradation in challenging self-driving scenes, such as those with high ego-motion and complex lighting.