Material-Informed Gaussian Splatting for 3D World Reconstruction in a Digital Twin Contributions: • A modular, camera-only pipeline integrating Gaussian Splatting for photorealistic geometry reconstruction with automated mesh-based material assignment. • An automated method for projecting 2D semantic material masks onto 3D mesh surfaces through Gaussian Splatting-based reconstruction, enabling accurate physics-based LiDAR reflectivity simulation. • Comprehensive evaluation demonstrating sensor simulation accuracy comparable to LiDAR-camera fusion, validated through LiDAR reflectivity and rendering quality analysis.
Paper: arxiv.org/abs/2511.20348