Abstract:Real-time Light Detection And Ranging (LiDAR) simulation must find, per emitted ray, the closest intersecting triangle even in dynamic scenes containing large numbers of moving and deformable objects. Dominant acceleration-structure approaches require rebuilding each frame for dynamic geometry -- a cost that compounds directly with scene dynamics and cannot be amortized regardless of how little actually changed.
This paper presents the Gajmer Ray-Casting Algorithm (GRCA), which inverts the question: instead of asking what does each ray hit? it asks which rays can each triangle possibly hit? GRCA geometrically models spinning LiDAR emitters as rotation-traced cones or planes and uses each triangle's emitter-centric apparent area to cull, per triangle, which channels and the rays within those channels can possibly reach it -- without any acceleration structure. GRCA is compute-based and vendor-agnostic by design, targeting highly dynamic, high-resolution simultaneous multi-sensor simulation. At its core, GRCA is a general-purpose ray-casting algorithm: the emitter-centric inversion applies to any setting where rays originate from a known position, not only LiDAR.
Benchmarks evaluate 2-8 simultaneous 128x4096-ray LiDARs (360deg/180deg) over complex dynamic scenes -- with just two sensors casting ~1M rays per frame. With range culling inactive, GRCA reaches up to 7.97x over hardware-accelerated OptiX (GPU) and 14.55x over Embree (CPU).
Two independent extensions further boost performance even in the most complex scene (~22M triangles, ~9M of which are dynamic, 8 LiDARs): range culling at realistic deployment ranges (10-100m) reaches up to 7.02x GPU and 9.33x CPU; a hybrid pipeline -- GRCA for dynamic geometry, OptiX/Embree for static -- reaches up to 10.5x GPU and 19.2x CPU.
From: Rabin Gajmer [view email]
[v1]
Mon, 11 May 2026 12:28:49 UTC (4,237 KB)
[v2]
Mon, 20 Jul 2026 17:17:45 UTC (4,363 KB)
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