{"id":"https://openalex.org/W7163757638","doi":"https://doi.org/10.1016/j.array.2026.100973","title":"ViMGS-SLAM: A real-time monocular 3DGS-based SLAM via multiscale vision transformers","display_name":"ViMGS-SLAM: A real-time monocular 3DGS-based SLAM via multiscale vision transformers","publication_year":2026,"publication_date":"2026-06-06","ids":{"openalex":"https://openalex.org/W7163757638","doi":"https://doi.org/10.1016/j.array.2026.100973"},"language":"en","primary_location":{"id":"doi:10.1016/j.array.2026.100973","is_oa":true,"landing_page_url":"https://doi.org/10.1016/j.array.2026.100973","pdf_url":null,"source":{"id":"https://openalex.org/S4210194039","display_name":"Array","issn_l":"2590-0056","issn":["2590-0056"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Array","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.1016/j.array.2026.100973","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100568649","display_name":"Huixin Zhu","orcid":"https://orcid.org/0009-0009-2359-9101"},"institutions":[{"id":"https://openalex.org/I2801618472","display_name":"PLA Rocket Force University of Engineering","ror":"https://ror.org/00gg5zj35","country_code":"CN","type":"education","lineage":["https://openalex.org/I2801618472"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huixin Zhu","raw_affiliation_strings":["Laboratory of Intelligent Control, Rocket Force University of Engineering, Xi\u2019an, 710025, China"],"raw_orcid":"https://orcid.org/0009-0009-2359-9101","affiliations":[{"raw_affiliation_string":"Laboratory of Intelligent Control, Rocket Force University of Engineering, Xi\u2019an, 710025, China","institution_ids":["https://openalex.org/I2801618472"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138023862","display_name":"Junyang Zhao","orcid":null},"institutions":[{"id":"https://openalex.org/I2801618472","display_name":"PLA Rocket Force University of Engineering","ror":"https://ror.org/00gg5zj35","country_code":"CN","type":"education","lineage":["https://openalex.org/I2801618472"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Junyang Zhao","raw_affiliation_strings":["Laboratory of Intelligent Control, Rocket Force University of Engineering, Xi\u2019an, 710025, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratory of Intelligent Control, Rocket Force University of Engineering, Xi\u2019an, 710025, China","institution_ids":["https://openalex.org/I2801618472"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138025024","display_name":"Yutie Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I2801618472","display_name":"PLA Rocket Force University of Engineering","ror":"https://ror.org/00gg5zj35","country_code":"CN","type":"education","lineage":["https://openalex.org/I2801618472"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yutie Wang","raw_affiliation_strings":["Laboratory of Intelligent Control, Rocket Force University of Engineering, Xi\u2019an, 710025, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratory of Intelligent Control, Rocket Force University of Engineering, Xi\u2019an, 710025, China","institution_ids":["https://openalex.org/I2801618472"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100329115","display_name":"Chen Xie","orcid":"https://orcid.org/0000-0001-5997-4297"},"institutions":[{"id":"https://openalex.org/I2801618472","display_name":"PLA Rocket Force University of Engineering","ror":"https://ror.org/00gg5zj35","country_code":"CN","type":"education","lineage":["https://openalex.org/I2801618472"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Chen Xie","raw_affiliation_strings":["Laboratory of Intelligent Control, Rocket Force University of Engineering, Xi\u2019an, 710025, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratory of Intelligent Control, Rocket Force University of Engineering, Xi\u2019an, 710025, China","institution_ids":["https://openalex.org/I2801618472"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138031639","display_name":"Fan Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I2801618472","display_name":"PLA Rocket Force University of Engineering","ror":"https://ror.org/00gg5zj35","country_code":"CN","type":"education","lineage":["https://openalex.org/I2801618472"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fan Zhang","raw_affiliation_strings":["Laboratory of Intelligent Control, Rocket Force University of Engineering, Xi\u2019an, 710025, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratory of Intelligent Control, Rocket Force University of Engineering, Xi\u2019an, 710025, China","institution_ids":["https://openalex.org/I2801618472"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5123642223","display_name":"Jiayi Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I2801618472","display_name":"PLA Rocket Force University of Engineering","ror":"https://ror.org/00gg5zj35","country_code":"CN","type":"education","lineage":["https://openalex.org/I2801618472"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiayi Wang","raw_affiliation_strings":["Laboratory of Intelligent Control, Rocket Force University of Engineering, Xi\u2019an, 710025, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratory of Intelligent Control, Rocket Force University of Engineering, Xi\u2019an, 710025, China","institution_ids":["https://openalex.org/I2801618472"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5100329115","https://openalex.org/A5138023862"],"corresponding_institution_ids":["https://openalex.org/I2801618472"],"apc_list":{"value":1420,"currency":"USD","value_usd":1420},"apc_paid":{"value":1420,"currency":"USD","value_usd":1420},"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.86035371,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"31","issue":null,"first_page":"100973","last_page":"100973"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.8270999789237976,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.8270999789237976,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.14159999787807465,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.007199999876320362,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.704800009727478},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.43799999356269836},{"id":"https://openalex.org/keywords/monocular-vision","display_name":"Monocular vision","score":0.430400013923645},{"id":"https://openalex.org/keywords/prior-probability","display_name":"Prior probability","score":0.3935999870300293},{"id":"https://openalex.org/keywords/regularization","display_name":"Regularization (linguistics)","score":0.3741999864578247},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.3709000051021576},{"id":"https://openalex.org/keywords/image-warping","display_name":"Image warping","score":0.35499998927116394},{"id":"https://openalex.org/keywords/rendering","display_name":"Rendering (computer graphics)","score":0.32659998536109924}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7950999736785889},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7487000226974487},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.704800009727478},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6632000207901001},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.43799999356269836},{"id":"https://openalex.org/C158829959","wikidata":"https://www.wikidata.org/wiki/Q1640606","display_name":"Monocular vision","level":2,"score":0.430400013923645},{"id":"https://openalex.org/C177769412","wikidata":"https://www.wikidata.org/wiki/Q278090","display_name":"Prior probability","level":3,"score":0.3935999870300293},{"id":"https://openalex.org/C2776135515","wikidata":"https://www.wikidata.org/wiki/Q17143721","display_name":"Regularization (linguistics)","level":2,"score":0.3741999864578247},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.3709000051021576},{"id":"https://openalex.org/C157202957","wikidata":"https://www.wikidata.org/wiki/Q1659609","display_name":"Image warping","level":2,"score":0.35499998927116394},{"id":"https://openalex.org/C205711294","wikidata":"https://www.wikidata.org/wiki/Q176953","display_name":"Rendering (computer graphics)","level":2,"score":0.32659998536109924},{"id":"https://openalex.org/C2780522230","wikidata":"https://www.wikidata.org/wiki/Q1140419","display_name":"Ambiguity","level":2,"score":0.3239000141620636},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.32359999418258667},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.2921999990940094},{"id":"https://openalex.org/C2776449333","wikidata":"https://www.wikidata.org/wiki/Q7928781","display_name":"View synthesis","level":3,"score":0.29120001196861267},{"id":"https://openalex.org/C66322947","wikidata":"https://www.wikidata.org/wiki/Q11658","display_name":"Transformer","level":3,"score":0.2879999876022339},{"id":"https://openalex.org/C4199805","wikidata":"https://www.wikidata.org/wiki/Q2725903","display_name":"Gaussian noise","level":2,"score":0.2702000141143799},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.26759999990463257},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.26759999990463257},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.26579999923706055},{"id":"https://openalex.org/C155542232","wikidata":"https://www.wikidata.org/wiki/Q736111","display_name":"Optical flow","level":3,"score":0.2655999958515167},{"id":"https://openalex.org/C39927690","wikidata":"https://www.wikidata.org/wiki/Q11197","display_name":"Logarithm","level":2,"score":0.26429998874664307},{"id":"https://openalex.org/C109950114","wikidata":"https://www.wikidata.org/wiki/Q4464732","display_name":"3D reconstruction","level":2,"score":0.2590999901294708}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1016/j.array.2026.100973","is_oa":true,"landing_page_url":"https://doi.org/10.1016/j.array.2026.100973","pdf_url":null,"source":{"id":"https://openalex.org/S4210194039","display_name":"Array","issn_l":"2590-0056","issn":["2590-0056"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Array","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1016/j.array.2026.100973","is_oa":true,"landing_page_url":"https://doi.org/10.1016/j.array.2026.100973","pdf_url":null,"source":{"id":"https://openalex.org/S4210194039","display_name":"Array","issn_l":"2590-0056","issn":["2590-0056"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Array","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320311778","display_name":"China Association for Science and Technology","ror":"https://ror.org/035vmht26"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1905829557","https://openalex.org/W2141067321","https://openalex.org/W2294343556","https://openalex.org/W2945895771","https://openalex.org/W2955639361","https://openalex.org/W2963760790","https://openalex.org/W2969556351","https://openalex.org/W3203887644","https://openalex.org/W4229041682","https://openalex.org/W4312878643","https://openalex.org/W4385318467","https://openalex.org/W4386066696","https://openalex.org/W4388505297","https://openalex.org/W4390872919","https://openalex.org/W4390873648","https://openalex.org/W4390874218","https://openalex.org/W4399224029","https://openalex.org/W4400403028","https://openalex.org/W4401288910","https://openalex.org/W4401703552","https://openalex.org/W4402698355","https://openalex.org/W4402698358","https://openalex.org/W4402727865","https://openalex.org/W4402753888","https://openalex.org/W4404843199","https://openalex.org/W4405715925","https://openalex.org/W4409057811","https://openalex.org/W4409787718"],"related_works":[],"abstract_inverted_index":{"Visual":[0],"Simultaneous":[1],"Localization":[2],"and":[3,18,73,89,96,134,140,177],"Mapping":[4],"(VSLAM)":[5],"is":[6],"essential":[7],"for":[8],"autonomous":[9],"systems,":[10],"yet":[11],"monocular":[12,30,151],"implementations":[13],"struggle":[14],"with":[15,39,85,128],"scale":[16],"ambiguity":[17],"unreliable":[19],"depth":[20,54,172],"cues":[21],"in":[22,150],"textureless":[23],"regions.":[24],"We":[25],"propose":[26],"ViMGS-SLAM,":[27],"a":[28,34,57],"novel":[29],"framework":[31],"that":[32],"integrates":[33],"Multi-scale":[35],"Vision":[36],"Transformer":[37],"(MViT)":[38],"3D":[40,77],"Gaussian":[41,78,97],"Splatting":[42],"(3DGS)":[43],"to":[44,71,115,119],"achieve":[45],"real-time,":[46],"metric-scale":[47],"dense":[48],"reconstruction.":[49],"The":[50,143],"MViT":[51,171],"generates":[52],"robust":[53],"priors":[55],"through":[56],"hierarchical":[58],"pyramid":[59],"architecture":[60],"(three":[61],"input":[62],"scales,":[63],"five":[64],"feature":[65],"levels),":[66],"which":[67],"are":[68],"then":[69],"used":[70],"initialize":[72],"constrain":[74],"an":[75],"explicit":[76],"scene":[79],"representation.":[80],"A":[81],"synchronous":[82],"tracking\u2013mapping":[83],"pipeline":[84],"adaptive":[86,175],"keyframe":[87],"selection":[88],"anisotropic":[90],"regularization":[91,179],"jointly":[92],"optimizes":[93],"camera":[94],"poses":[95],"parameters.":[98],"On":[99,121],"the":[100,154,167,170,174,178],"TUM":[101],"RGB-D":[102],"fr3":[103],"dataset,":[104],"ViMGS-SLAM":[105],"reduces":[106],"absolute":[107],"trajectory":[108],"error":[109],"by":[110],"46.0%":[111],"(from":[112],"0.0437":[113],"m":[114],"0.0236":[116],"m)":[117],"compared":[118],"MonoGS.":[120],"Replica,":[122],"it":[123],"achieves":[124],"state-of-the-art":[125],"novel-view":[126],"synthesis":[127],"PSNR":[129],"39.6":[130],"dB,":[131],"SSIM":[132],"0.976,":[133],"LPIPS":[135],"0.042,":[136],"outperforming":[137],"both":[138],"NeRF-based":[139],"3DGS-based":[141],"methods.":[142],"system":[144],"operates":[145],"at":[146],"2.7":[147],"FPS":[148],"end-to-end":[149],"mode,":[152],"while":[153],"differentiable":[155],"renderer":[156],"alone":[157],"reaches":[158],"1130":[159],"FPS,":[160],"confirming":[161],"its":[162],"efficiency.":[163],"Ablation":[164],"studies":[165],"validate":[166],"contributions":[168],"of":[169],"prior,":[173],"keyframing,":[176],"terms.":[180]},"counts_by_year":[],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2026-06-07T00:00:00"}