{"id":"https://openalex.org/W7147096214","doi":"https://doi.org/10.1109/cnml68938.2026.11453040","title":"OG-SLAM: Robust High-Fidelity Geometry Reconstruction in Dynamic Scenes via Opacity-Guided Gaussian Splatting","display_name":"OG-SLAM: Robust High-Fidelity Geometry Reconstruction in Dynamic Scenes via Opacity-Guided Gaussian Splatting","publication_year":2026,"publication_date":"2026-01-30","ids":{"openalex":"https://openalex.org/W7147096214","doi":"https://doi.org/10.1109/cnml68938.2026.11453040"},"language":null,"primary_location":{"id":"doi:10.1109/cnml68938.2026.11453040","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cnml68938.2026.11453040","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2026 International Conference on Communication Networks and Machine Learning (CNML)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5112925088","display_name":"Haotong Li","orcid":null},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Haotong Li","raw_affiliation_strings":["University of Science and Technology of China,Hefei,China,230026"],"affiliations":[{"raw_affiliation_string":"University of Science and Technology of China,Hefei,China,230026","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5132543090","display_name":"Hui Zhu","orcid":null},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hui Zhu","raw_affiliation_strings":["University of Science and Technology of China,Hefei,China,230026"],"affiliations":[{"raw_affiliation_string":"University of Science and Technology of China,Hefei,China,230026","institution_ids":["https://openalex.org/I126520041"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5112925088"],"corresponding_institution_ids":["https://openalex.org/I126520041"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.94147737,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"619","last_page":"622"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.4731000065803528,"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":0.4731000065803528,"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/T10719","display_name":"3D Shape Modeling and Analysis","score":0.3806000053882599,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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":0.04010000079870224,"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/robustness","display_name":"Robustness (evolution)","score":0.7089999914169312},{"id":"https://openalex.org/keywords/visual-hull","display_name":"Visual hull","score":0.5464000105857849},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.4984000027179718},{"id":"https://openalex.org/keywords/geometric-primitive","display_name":"Geometric primitive","score":0.492900013923645},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.48660001158714294},{"id":"https://openalex.org/keywords/3d-reconstruction","display_name":"3D reconstruction","score":0.3894999921321869},{"id":"https://openalex.org/keywords/marching-cubes","display_name":"Marching cubes","score":0.3513999879360199},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.3490000069141388},{"id":"https://openalex.org/keywords/intersection","display_name":"Intersection (aeronautics)","score":0.29840001463890076}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7351999878883362},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7271000146865845},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7089999914169312},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6955999732017517},{"id":"https://openalex.org/C2776863239","wikidata":"https://www.wikidata.org/wiki/Q7936601","display_name":"Visual hull","level":3,"score":0.5464000105857849},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.4984000027179718},{"id":"https://openalex.org/C181095308","wikidata":"https://www.wikidata.org/wiki/Q1541599","display_name":"Geometric primitive","level":2,"score":0.492900013923645},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.48660001158714294},{"id":"https://openalex.org/C109950114","wikidata":"https://www.wikidata.org/wiki/Q4464732","display_name":"3D reconstruction","level":2,"score":0.3894999921321869},{"id":"https://openalex.org/C42087268","wikidata":"https://www.wikidata.org/wiki/Q1886184","display_name":"Marching cubes","level":3,"score":0.3513999879360199},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.3490000069141388},{"id":"https://openalex.org/C64543145","wikidata":"https://www.wikidata.org/wiki/Q162942","display_name":"Intersection (aeronautics)","level":2,"score":0.29840001463890076},{"id":"https://openalex.org/C60056205","wikidata":"https://www.wikidata.org/wiki/Q691914","display_name":"Opacity","level":2,"score":0.296999990940094},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.2957000136375427},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2921000123023987},{"id":"https://openalex.org/C104065381","wikidata":"https://www.wikidata.org/wiki/Q1002535","display_name":"Geometric modeling","level":2,"score":0.2863999903202057},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.2809000015258789},{"id":"https://openalex.org/C20885615","wikidata":"https://www.wikidata.org/wiki/Q825595","display_name":"Surface reconstruction","level":3,"score":0.27709999680519104},{"id":"https://openalex.org/C141379421","wikidata":"https://www.wikidata.org/wiki/Q6094427","display_name":"Iterative reconstruction","level":2,"score":0.273499995470047},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2712000012397766},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.2687999904155731},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.26499998569488525},{"id":"https://openalex.org/C177769412","wikidata":"https://www.wikidata.org/wiki/Q278090","display_name":"Prior probability","level":3,"score":0.2572000026702881},{"id":"https://openalex.org/C150627866","wikidata":"https://www.wikidata.org/wiki/Q1076893","display_name":"Field of view","level":2,"score":0.25619998574256897},{"id":"https://openalex.org/C108882727","wikidata":"https://www.wikidata.org/wiki/Q2991685","display_name":"Solid modeling","level":2,"score":0.25360000133514404},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.25040000677108765},{"id":"https://openalex.org/C141297171","wikidata":"https://www.wikidata.org/wiki/Q1143237","display_name":"Octree","level":2,"score":0.25}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cnml68938.2026.11453040","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cnml68938.2026.11453040","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2026 International Conference on Communication Networks and Machine Learning (CNML)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.6605764031410217}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":7,"referenced_works":["https://openalex.org/W2021851106","https://openalex.org/W3171588328","https://openalex.org/W4200150166","https://openalex.org/W4396850270","https://openalex.org/W4407389163","https://openalex.org/W4413925153","https://openalex.org/W4415532291"],"related_works":[],"abstract_inverted_index":{"High-fidelity":[0],"3D":[1,18],"scene":[2,68],"reconstruction":[3,38,142,164],"via":[4,84],"visual":[5,57],"SLAM":[6,33,58],"is":[7],"crucial":[8],"for":[9,139],"applications":[10],"in":[11,26,45,110,158],"embodied":[12],"AI":[13],"and":[14,28,40,66,87,103,163,179],"simulation":[15],"testing.":[16],"Although":[17],"Gaussian":[19,74,89],"Splatting":[20],"(3DGS)":[21],"has":[22],"demonstrated":[23],"significant":[24],"potential":[25],"efficient":[27,122],"high-quality":[29,180],"rendering,":[30],"existing":[31,155],"Gaussian-based":[32],"systems":[34],"lack":[35],"effective":[36],"geometric":[37,92,181],"capabilities":[39],"suffer":[41],"from":[42,171],"insufficient":[43],"robustness":[44,109],"dynamic":[46,111,172],"scenes.":[47],"To":[48],"address":[49],"these":[50],"issues,":[51],"this":[52],"paper":[53],"proposes":[54],"a":[55,80,95],"novel":[56,176],"system":[59],"capable":[60],"of":[61,160],"simultaneous":[62],"robust":[63],"camera":[64],"tracking":[65,108],"high-fidelity":[67],"reconstruction.":[69],"We":[70],"introduce":[71],"an":[72,121],"Opacity-Guided":[73],"Radiance":[75],"Field":[76],"model":[77],"that":[78,152],"constructs":[79],"continuous":[81],"opacity":[82,117],"field":[83],"ray-Gaussian":[85],"intersection":[86],"optimizes":[88],"primitives":[90],"through":[91],"constraints.":[93],"Subsequently,":[94],"pose":[96],"estimation":[97],"method":[98],"based":[99,126],"on":[100,127,148],"dual":[101],"constraints\u2014semantic":[102],"geometric\u2014is":[104],"designed":[105],"to":[106],"ensure":[107],"environments.":[112],"Finally,":[113],"leveraging":[114],"the":[115,137],"optimized":[116],"field,":[118],"we":[119],"propose":[120],"surface":[123],"extraction":[124],"algorithm":[125],"Marching":[128],"Tetrahedra,":[129],"which":[130],"generates":[131],"precise":[132],"mesh":[133,182],"models":[134],"directly":[135],"without":[136],"need":[138],"traditional":[140],"Poisson":[141],"or":[143],"TSDF":[144],"fusion.":[145],"Extensive":[146],"experiments":[147],"multiple":[149],"datasets":[150],"demonstrate":[151],"OG-SLAM":[153],"outperforms":[154],"state-of-the-art":[156],"methods":[157],"terms":[159],"localization":[161],"accuracy":[162],"quality.":[165],"Furthermore,":[166],"it":[167],"effectively":[168],"handles":[169],"interference":[170],"objects,":[173],"achieving":[174],"photorealistic":[175],"view":[177],"synthesis":[178],"generation.":[183]},"counts_by_year":[],"updated_date":"2026-04-02T13:53:19.096889","created_date":"2026-04-02T00:00:00"}