用高斯点云构建逼真自动驾驶仿真环境，兼顾真实感与易用性。
GSAVS: Gaussian Splatting-based Autonomous Vehicle Simulator
- 所有资产均为3D高斯点云，实现高保真场景重建
- 在传统3D引擎中实时渲染点云，支持快速场景搭建
- 适合需要高真实感仿真且注重开发效率的研究者
现代自动驾驶仿真器拥有日益丰富的资产库，包括车辆、建筑、道路、行人等。虽然这种高度定制化有利于构建虚拟城市环境，但在创建数字孪生或真实场景复制品时却变得繁琐。高斯点云技术在场景重建和新视角合成中表现出色，具备高保真度和高速渲染能力。本文提出GSAVS，一个基于高斯点云的自动驾驶仿真器，其中所有资产（包括车辆和环境）均以3D高斯点云形式存在。该仿真器运行于经典3D引擎中，实现实时渲染3D高斯点云。这使得仿真器既能保持高斯点云带来的照片级真实感，又具备传统3D引擎的可定制性和易用性。
原文摘要 · Abstract (English)
Modern autonomous vehicle simulators feature an ever-growing library of assets, including vehicles, buildings, roads, pedestrians, and more. While this level of customization proves beneficial when creating virtual urban environments, this process becomes cumbersome when intending to train within a digital twin or a duplicate of a real scene. Gaussian splatting emerged as a powerful technique in scene reconstruction and novel view synthesis, boasting high fidelity and rendering speeds. In this paper, we introduce GSAVS, an autonomous vehicle simulator that supports the creation and development of autonomous vehicle models. Every asset within the simulator is a 3D Gaussian splat, including the vehicles and the environment. However, the simulator runs within a classical 3D engine, rendering 3D Gaussian splats in real-time. This allows the simulator to utilize the photorealism that 3D Gaussian splatting boasts while providing the customization and ease of use of a classical 3D engine.
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