TL;DR of the paper, generated automatically.

Researchers propose PLS-GS, a Gaussian Splatting method that uses LiDAR to build a compact scene.

• Idea: fits a Gaussian mixture over LiDAR position and color, then guides the splats.
• Result: across five large outdoor scenes, primitives sit closer to LiDAR points.
• Size: uses substantially fewer primitives, with comparable rendering quality at matched capacity.