This is "rendering a 3D world". It's basically the exact same techniques that traditional rendering uses, just with a different primitive that's not triangles. Everything else pretty much carries over.

If you mean the technique of splatting specifically, Dreams for PS4 [1] is prior art.

If you mean pre-rendering, there's Myst and games like the original FF7 for PS1.

[1] https://en.wikipedia.org/wiki/Dreams_(video_game)