> For the complete documentation index, see [llms.txt](https://2025.istvs.org/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://2025.istvs.org/submissions/papers/8969.md).

# 8969 - SURVEY OF LIDAR EFFECTS FOR AUTONOMOUS DRIVING SIMULATIONS

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Paper presented at ISTVS 2025 | 55th Conference of the International Society for Terrain-Vehicle Systems <https://doi.org/10.56884/O5B2MXY7>
{% endhint %}

**Authors:** *John Kaniarz, Brian Brady, Laura Walizer, Phillip Price, Mike Parker*

**Keywords:** LiDAR; simulation; autonomous; fidelity

**Abstract:**

A wide variety of software packages are available for modeling Light Detection and Ranging (LiDAR) sensors in the context of autonomous driving simulations. This report highlights ten effects that a high-fidelity LiDAR simulation should be capable of delivering. Examples are provided from real-world data collected in the field, synthetic results generated in simulation, and published literature. Simulation users must carefully consider performance versus fidelity tradeoffs when selecting a suitable LiDAR simulation package for use


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