{"id":"https://openalex.org/W7154015178","doi":"https://doi.org/10.1016/j.displa.2026.103476","title":"GAD-SLAM: 2D Gaussian splatting SLAM via active densification","display_name":"GAD-SLAM: 2D Gaussian splatting SLAM via active densification","publication_year":2026,"publication_date":"2026-04-13","ids":{"openalex":"https://openalex.org/W7154015178","doi":"https://doi.org/10.1016/j.displa.2026.103476"},"language":"en","primary_location":{"id":"doi:10.1016/j.displa.2026.103476","is_oa":true,"landing_page_url":"https://doi.org/10.1016/j.displa.2026.103476","pdf_url":null,"source":{"id":"https://openalex.org/S191329154","display_name":"Displays","issn_l":"0141-9382","issn":["0141-9382","1872-7387"],"is_oa":false,"is_in_doaj":false,"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-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Displays","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://doi.org/10.1016/j.displa.2026.103476","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5013029508","display_name":"Bingbing Jiang","orcid":"https://orcid.org/0000-0003-2217-6202"},"institutions":[{"id":"https://openalex.org/I135237710","display_name":"Zhejiang Normal University","ror":"https://ror.org/01vevwk45","country_code":"CN","type":"education","lineage":["https://openalex.org/I135237710"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bingbing Jiang","raw_affiliation_strings":["College of Computer Science and Technology, Zhejiang Normal University, Jinhua, Zhejiang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Computer Science and Technology, Zhejiang Normal University, Jinhua, Zhejiang, China","institution_ids":["https://openalex.org/I135237710"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5133483184","display_name":"Zhe Chen","orcid":null},"institutions":[{"id":"https://openalex.org/I135237710","display_name":"Zhejiang Normal University","ror":"https://ror.org/01vevwk45","country_code":"CN","type":"education","lineage":["https://openalex.org/I135237710"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhe Chen","raw_affiliation_strings":["College of Engineering, Zhejiang Normal University, Jinhua, Zhejiang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Engineering, Zhejiang Normal University, Jinhua, Zhejiang, China","institution_ids":["https://openalex.org/I135237710"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5133508401","display_name":"Wenlong Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I135237710","display_name":"Zhejiang Normal University","ror":"https://ror.org/01vevwk45","country_code":"CN","type":"education","lineage":["https://openalex.org/I135237710"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenlong Wang","raw_affiliation_strings":["College of Computer Science and Technology, Zhejiang Normal University, Jinhua, Zhejiang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Computer Science and Technology, Zhejiang Normal University, Jinhua, Zhejiang, China","institution_ids":["https://openalex.org/I135237710"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5034043775","display_name":"Lihong Ma","orcid":null},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Lihong Ma","raw_affiliation_strings":["Key Laboratory of Optical Information Detecting and Display Technology in Zhejiang Province, Jinhua, Zhejiang 321004, China"],"raw_orcid":"https://orcid.org/0000-0001-8090-8286","affiliations":[{"raw_affiliation_string":"Key Laboratory of Optical Information Detecting and Display Technology in Zhejiang Province, Jinhua, Zhejiang 321004, China","institution_ids":["https://openalex.org/I76130692"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5034043775"],"corresponding_institution_ids":["https://openalex.org/I76130692"],"apc_list":{"value":2470,"currency":"USD","value_usd":2470},"apc_paid":{"value":2470,"currency":"USD","value_usd":2470},"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.78659163,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"94","issue":null,"first_page":"103476","last_page":"103476"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.6980000138282776,"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":0.6980000138282776,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.04430000111460686,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.026100000366568565,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.48030000925064087},{"id":"https://openalex.org/keywords/gaussian-process","display_name":"Gaussian process","score":0.3481999933719635},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.2978000044822693},{"id":"https://openalex.org/keywords/gaussian-filter","display_name":"Gaussian filter","score":0.2890999913215637}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.689300000667572},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5640000104904175},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5618000030517578},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.48030000925064087},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.37209999561309814},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.3481999933719635},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.2978000044822693},{"id":"https://openalex.org/C65892221","wikidata":"https://www.wikidata.org/wiki/Q1113935","display_name":"Gaussian filter","level":3,"score":0.2890999913215637},{"id":"https://openalex.org/C61224824","wikidata":"https://www.wikidata.org/wiki/Q2260434","display_name":"Mixture model","level":2,"score":0.2542000114917755},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.21979999542236328}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1016/j.displa.2026.103476","is_oa":true,"landing_page_url":"https://doi.org/10.1016/j.displa.2026.103476","pdf_url":null,"source":{"id":"https://openalex.org/S191329154","display_name":"Displays","issn_l":"0141-9382","issn":["0141-9382","1872-7387"],"is_oa":false,"is_in_doaj":false,"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-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Displays","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1016/j.displa.2026.103476","is_oa":true,"landing_page_url":"https://doi.org/10.1016/j.displa.2026.103476","pdf_url":null,"source":{"id":"https://openalex.org/S191329154","display_name":"Displays","issn_l":"0141-9382","issn":["0141-9382","1872-7387"],"is_oa":false,"is_in_doaj":false,"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-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Displays","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Climate action","id":"https://metadata.un.org/sdg/13","score":0.7307786345481873}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W2071906076","https://openalex.org/W2099940712","https://openalex.org/W2152671441","https://openalex.org/W2336961836","https://openalex.org/W2396274919","https://openalex.org/W2535547924","https://openalex.org/W2564632156","https://openalex.org/W2951730755","https://openalex.org/W3043971245","https://openalex.org/W3172610252","https://openalex.org/W4214768561","https://openalex.org/W4312878643","https://openalex.org/W4385318467","https://openalex.org/W4386066489","https://openalex.org/W4386066696","https://openalex.org/W4386113270","https://openalex.org/W4386432320","https://openalex.org/W4390873648","https://openalex.org/W4393248012","https://openalex.org/W4400403028","https://openalex.org/W4402698355","https://openalex.org/W4402716305","https://openalex.org/W4402727865"],"related_works":[],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,15,30],"representation-decoupled":[4],"dense":[5,22,73,132],"SLAM":[6],"framework":[7],"based":[8],"on":[9],"Gaussian":[10,19,33,49,79],"scene":[11,23,133],"representations.":[12],"We":[13],"maintain":[14],"persistent":[16],"global":[17,39],"3D":[18,92],"map":[20],"for":[21],"reconstruction,":[24],"while":[25,116,135],"performing":[26],"camera":[27,69,129],"tracking":[28,53],"using":[29],"view-dependent":[31],"2D":[32,48],"proxy":[34],"dynamically":[35],"instantiated":[36],"from":[37,42],"the":[38,43,51,88,97,103,111],"map.":[40],"Benefiting":[41],"explicit":[44],"surface":[45],"orientation":[46],"of":[47,91,99],"primitives,":[50,110],"proposed":[52,112],"method":[54,126],"provides":[55],"more":[56,62],"geometrically":[57],"interpretable":[58],"image-space":[59],"projections":[60],"and":[61,67,81,107],"stable":[63],"gradients,":[64],"enabling":[65],"robust":[66,128],"accurate":[68],"pose":[70],"estimation.":[71],"For":[72],"mapping,":[74],"we":[75],"introduce":[76],"an":[77],"active":[78],"densification":[80],"visibility":[82],"pruning":[83],"strategy":[84,113],"that":[85,124],"efficiently":[86],"refines":[87],"spatial":[89],"distribution":[90],"Gaussians.":[93],"By":[94],"aggressively":[95],"increasing":[96],"number":[98],"informative":[100],"Gaussians":[101],"in":[102],"early":[104],"optimization":[105],"stage":[106],"removing":[108],"invisible":[109],"accelerates":[114],"convergence":[115],"maintaining":[117,136],"high":[118],"reconstruction":[119,134],"quality.":[120],"Experimental":[121],"results":[122],"demonstrate":[123],"our":[125],"achieves":[127],"tracking,":[130],"high-quality":[131],"computational":[137],"efficiency.":[138]},"counts_by_year":[],"updated_date":"2026-06-19T17:40:00.097472","created_date":"2026-04-14T00:00:00"}