{"id":"https://openalex.org/W4415707913","doi":"https://doi.org/10.1109/icme59968.2025.11210108","title":"QCG-SLAM: Quadtree-based Condensed Gaussian Splatting for Visual SLAM","display_name":"QCG-SLAM: Quadtree-based Condensed Gaussian Splatting for Visual SLAM","publication_year":2025,"publication_date":"2025-06-30","ids":{"openalex":"https://openalex.org/W4415707913","doi":"https://doi.org/10.1109/icme59968.2025.11210108"},"language":null,"primary_location":{"id":"doi:10.1109/icme59968.2025.11210108","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icme59968.2025.11210108","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Multimedia and Expo (ICME)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5112431162","display_name":"Xinchang Fang","orcid":"https://orcid.org/0009-0008-2610-8761"},"institutions":[{"id":"https://openalex.org/I24943067","display_name":"Fudan University","ror":"https://ror.org/013q1eq08","country_code":"CN","type":"education","lineage":["https://openalex.org/I24943067"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xun Fang","raw_affiliation_strings":["Fudan University,Academy for Engineering and Technology,Shanghai,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fudan University,Academy for Engineering and Technology,Shanghai,China","institution_ids":["https://openalex.org/I24943067"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Zixuan Hua","orcid":null},"institutions":[{"id":"https://openalex.org/I24943067","display_name":"Fudan University","ror":"https://ror.org/013q1eq08","country_code":"CN","type":"education","lineage":["https://openalex.org/I24943067"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zixuan Hua","raw_affiliation_strings":["Fudan University,Academy for Engineering and Technology,Shanghai,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fudan University,Academy for Engineering and Technology,Shanghai,China","institution_ids":["https://openalex.org/I24943067"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111026715","display_name":"Xiao Zhao","orcid":null},"institutions":[{"id":"https://openalex.org/I24943067","display_name":"Fudan University","ror":"https://ror.org/013q1eq08","country_code":"CN","type":"education","lineage":["https://openalex.org/I24943067"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiao Zhao","raw_affiliation_strings":["Fudan University,Academy for Engineering and Technology,Shanghai,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fudan University,Academy for Engineering and Technology,Shanghai,China","institution_ids":["https://openalex.org/I24943067"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100414909","display_name":"Lihua Zhang","orcid":"https://orcid.org/0000-0003-2543-1547"},"institutions":[{"id":"https://openalex.org/I24943067","display_name":"Fudan University","ror":"https://ror.org/013q1eq08","country_code":"CN","type":"education","lineage":["https://openalex.org/I24943067"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lihua Zhang","raw_affiliation_strings":["Fudan University,Academy for Engineering and Technology,Shanghai,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fudan University,Academy for Engineering and Technology,Shanghai,China","institution_ids":["https://openalex.org/I24943067"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I24943067"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.34510401,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.978600025177002,"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":0.978600025177002,"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":0.008899999782443047,"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":0.002199999988079071,"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/initialization","display_name":"Initialization","score":0.6704000234603882},{"id":"https://openalex.org/keywords/rendering","display_name":"Rendering (computer graphics)","score":0.5174999833106995},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.48179998993873596},{"id":"https://openalex.org/keywords/gaussian-process","display_name":"Gaussian process","score":0.47440001368522644},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.46219998598098755},{"id":"https://openalex.org/keywords/redundancy","display_name":"Redundancy (engineering)","score":0.4442000091075897},{"id":"https://openalex.org/keywords/mixture-model","display_name":"Mixture model","score":0.39010000228881836},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.3889999985694885},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.3871000111103058}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8432999849319458},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.743399977684021},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7322999835014343},{"id":"https://openalex.org/C114466953","wikidata":"https://www.wikidata.org/wiki/Q6034165","display_name":"Initialization","level":2,"score":0.6704000234603882},{"id":"https://openalex.org/C205711294","wikidata":"https://www.wikidata.org/wiki/Q176953","display_name":"Rendering (computer graphics)","level":2,"score":0.5174999833106995},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.48179998993873596},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.47440001368522644},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.46219998598098755},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.4442000091075897},{"id":"https://openalex.org/C61224824","wikidata":"https://www.wikidata.org/wiki/Q2260434","display_name":"Mixture model","level":2,"score":0.39010000228881836},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.3889999985694885},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.3871000111103058},{"id":"https://openalex.org/C2775937380","wikidata":"https://www.wikidata.org/wiki/Q1232589","display_name":"Replica","level":2,"score":0.36239999532699585},{"id":"https://openalex.org/C175291020","wikidata":"https://www.wikidata.org/wiki/Q1156822","display_name":"Offset (computer science)","level":2,"score":0.3555999994277954},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.3495999872684479},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.34599998593330383},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.30889999866485596},{"id":"https://openalex.org/C23903533","wikidata":"https://www.wikidata.org/wiki/Q17122739","display_name":"Reprojection error","level":3,"score":0.3046000003814697},{"id":"https://openalex.org/C7545210","wikidata":"https://www.wikidata.org/wiki/Q838123","display_name":"Data redundancy","level":2,"score":0.2870999872684479},{"id":"https://openalex.org/C7149132","wikidata":"https://www.wikidata.org/wiki/Q1377840","display_name":"Forgetting","level":2,"score":0.2851000130176544},{"id":"https://openalex.org/C109950114","wikidata":"https://www.wikidata.org/wiki/Q4464732","display_name":"3D reconstruction","level":2,"score":0.26840001344680786},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.266400009393692},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.2578999996185303},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.25769999623298645},{"id":"https://openalex.org/C52740198","wikidata":"https://www.wikidata.org/wiki/Q1539564","display_name":"Importance sampling","level":3,"score":0.2547000050544739},{"id":"https://openalex.org/C124504099","wikidata":"https://www.wikidata.org/wiki/Q56933","display_name":"Image segmentation","level":3,"score":0.25369998812675476}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icme59968.2025.11210108","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icme59968.2025.11210108","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Multimedia and Expo (ICME)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W2008196645","https://openalex.org/W2021851106","https://openalex.org/W2250172176","https://openalex.org/W2336961836","https://openalex.org/W2535547924","https://openalex.org/W2963218091","https://openalex.org/W4200150166","https://openalex.org/W4214768561","https://openalex.org/W4307783807","https://openalex.org/W4312878643","https://openalex.org/W4385318467","https://openalex.org/W4390873648","https://openalex.org/W4396594876","https://openalex.org/W4400581064","https://openalex.org/W4402698355","https://openalex.org/W4402698358","https://openalex.org/W4402716305","https://openalex.org/W4402727865"],"related_works":[],"abstract_inverted_index":{"Recent":[0],"studies":[1],"highlight":[2],"the":[3,63,122,128],"potential":[4],"of":[5,65,118],"3D":[6],"Gaussian":[7,51],"Splatting":[8],"in":[9,105,138],"visual":[10],"SLAM":[11,42],"systems.":[12],"However,":[13],"current":[14],"methods":[15],"often":[16],"initialize":[17],"and":[18,28,53,80,84,97,108,125,141],"densify":[19],"Gaussians":[20,66],"on":[21,121,127,131],"a":[22,49,57,72,86],"per-pixel":[23],"basis,":[24],"leading":[25],"to":[26],"redundancy":[27],"high":[29],"storage":[30],"demands.":[31],"To":[32],"address":[33],"these":[34],"limitations,":[35],"we":[36],"propose":[37],"QCG-SLAM,":[38],"an":[39],"innovative":[40],"Gaussian-based":[41],"system":[43],"introducing":[44],"three":[45],"key":[46],"contributions:":[47],"(1)":[48],"redesigned":[50],"initialization":[52],"densification":[54],"process":[55],"leveraging":[56],"quadtree":[58],"segmentation":[59],"scheme,":[60],"effectively":[61],"reducing":[62],"number":[64],"required":[67],"for":[68],"scene":[69,74,142],"representation;":[70],"(2)":[71],"coarse-to-fine":[73],"reconstruction":[75],"paradigm":[76],"that":[77,93,113],"accelerates":[78],"convergence":[79],"enhances":[81],"rendering":[82],"quality;":[83],"(3)":[85],"Confidence":[87],"Sampling-based":[88],"Keyframe":[89],"Selection":[90],"(CSKS)":[91],"strategy":[92],"mitigates":[94],"catastrophic":[95],"forgetting":[96],"tracking":[98,140],"cumulative":[99],"error":[100],"issues,":[101],"demonstrating":[102],"clear":[103],"advantages":[104],"both":[106],"accuracy":[107],"efficiency.":[109],"Extensive":[110],"experiments":[111],"demonstrate":[112],"QCG-SLAM":[114],"requires":[115],"only":[116],"32.18%":[117],"SplaTAM\u2019s":[119],"memory":[120],"Replica":[123],"dataset":[124,130],"25.70%":[126],"TUM-RGBD":[129],"average,":[132],"while":[133],"maintaining":[134],"state-of-the-art":[135],"(SOTA)":[136],"performance":[137],"camera":[139],"reconstruction.":[143]},"counts_by_year":[],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-30T00:00:00"}