ResearchBenchmarksLidar Point Cloud Rendering on Waymo Open DatasetLidar Point Cloud Rendering on Waymo Open DatasetFollow0.01Depth ErrorSplatAD0.0090.00950.010.0105Nov 24, 2025Evaluation resultsMethodMethodLinksDepth ErrorIntensity ErrorDrop AccuracyChamfer Distance (CD)SplatAD2025.110.010.05587.30.98IDSplat2025.110.010.05687.51.24