Abstract: LiDAR-based immersive 3D reality capture systems and methods are disclosed. The reality capture system includes a set of LiDAR sensors disposed around an environment and configured to capture one or more events occurring within the environment. The reality capture system also includes a corresponding set of cameras disposed around the environment. Each camera is mounted on a same gimbal with a corresponding LiDAR sensor and has a same optical axis as the corresponding LiDAR sensor. The reality capture system further includes a base station viewpoint generator coupled to the set of LiDAR sensors and the cameras to generate a video feed based on data received from the LiDAR sensors and the cameras. The reality capture system additionally includes a virtual reality device coupled to the base station viewpoint generator to receive and display the video feed generated by the base station viewpoint generator.