{"id":"https://openalex.org/W4383108462","doi":"https://doi.org/10.1109/icra48891.2023.10161425","title":"SLAMesh: Real-time LiDAR Simultaneous Localization and Meshing","display_name":"SLAMesh: Real-time LiDAR Simultaneous Localization and Meshing","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383108462","doi":"https://doi.org/10.1109/icra48891.2023.10161425"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10161425","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10161425","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","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/A5022644220","display_name":"Jianyuan Ruan","orcid":"https://orcid.org/0000-0002-7162-8239"},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Jianyuan Ruan","raw_affiliation_strings":["The Hong Kong Polytechnic University,Hong Kong","The Hong Kong Polytechnic University, Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Hong Kong Polytechnic University,Hong Kong","institution_ids":["https://openalex.org/I14243506"]},{"raw_affiliation_string":"The Hong Kong Polytechnic University, Hong Kong","institution_ids":["https://openalex.org/I14243506"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100374394","display_name":"Bo Li","orcid":"https://orcid.org/0000-0002-1024-0222"},"institutions":[{"id":"https://openalex.org/I168879160","display_name":"Zhejiang University of Science and Technology","ror":"https://ror.org/05mx0wr29","country_code":"CN","type":"education","lineage":["https://openalex.org/I168879160"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bo Li","raw_affiliation_strings":["Zhejiang University of Science and Technology,Hangzhou,China","Zhejiang University of Science and Technology, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang University of Science and Technology,Hangzhou,China","institution_ids":["https://openalex.org/I168879160"]},{"raw_affiliation_string":"Zhejiang University of Science and Technology, Hangzhou, China","institution_ids":["https://openalex.org/I168879160"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100354966","display_name":"Yibo Wang","orcid":"https://orcid.org/0000-0002-0870-6302"},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Yibo Wang","raw_affiliation_strings":["The Hong Kong Polytechnic University,Hong Kong","The Hong Kong Polytechnic University, Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Hong Kong Polytechnic University,Hong Kong","institution_ids":["https://openalex.org/I14243506"]},{"raw_affiliation_string":"The Hong Kong Polytechnic University, Hong Kong","institution_ids":["https://openalex.org/I14243506"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5039935452","display_name":"Yuxiang Sun","orcid":"https://orcid.org/0000-0002-7704-0559"},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Yuxiang Sun","raw_affiliation_strings":["The Hong Kong Polytechnic University,Hong Kong","The Hong Kong Polytechnic University, Hong Kong"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Hong Kong Polytechnic University,Hong Kong","institution_ids":["https://openalex.org/I14243506"]},{"raw_affiliation_string":"The Hong Kong Polytechnic University, Hong Kong","institution_ids":["https://openalex.org/I14243506"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":37,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"3546","last_page":"3552"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"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":1.0,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9968000054359436,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9955999851226807,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/computer-science","display_name":"Computer science","score":0.7989406585693359},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.7147477865219116},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.6759216785430908},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.6531468033790588},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.6021712422370911},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5611852407455444},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5315302014350891},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5157068371772766},{"id":"https://openalex.org/keywords/polygon-mesh","display_name":"Polygon mesh","score":0.5053401589393616},{"id":"https://openalex.org/keywords/code","display_name":"Code (set theory)","score":0.42421212792396545},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.4231528043746948},{"id":"https://openalex.org/keywords/triangle-mesh","display_name":"Triangle mesh","score":0.4143354594707489},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.35620540380477905},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.20698654651641846},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.10789668560028076},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.09260836243629456},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.08427536487579346}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7989406585693359},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.7147477865219116},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6759216785430908},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.6531468033790588},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.6021712422370911},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5611852407455444},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5315302014350891},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5157068371772766},{"id":"https://openalex.org/C31487907","wikidata":"https://www.wikidata.org/wiki/Q1154597","display_name":"Polygon mesh","level":2,"score":0.5053401589393616},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.42421212792396545},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.4231528043746948},{"id":"https://openalex.org/C194401833","wikidata":"https://www.wikidata.org/wiki/Q3456889","display_name":"Triangle mesh","level":3,"score":0.4143354594707489},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.35620540380477905},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.20698654651641846},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.10789668560028076},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.09260836243629456},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.08427536487579346},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48891.2023.10161425","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10161425","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.41999998688697815}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W1502922572","https://openalex.org/W1514151998","https://openalex.org/W1987648924","https://openalex.org/W2002827932","https://openalex.org/W2009422376","https://openalex.org/W2082166611","https://openalex.org/W2083624955","https://openalex.org/W2115579991","https://openalex.org/W2130684472","https://openalex.org/W2131439959","https://openalex.org/W2133844819","https://openalex.org/W2146881125","https://openalex.org/W2277848489","https://openalex.org/W2607968634","https://openalex.org/W2738551266","https://openalex.org/W2805521962","https://openalex.org/W2962831196","https://openalex.org/W2968672950","https://openalex.org/W2968757415","https://openalex.org/W2990454926","https://openalex.org/W3003991701","https://openalex.org/W3005655766","https://openalex.org/W3007240855","https://openalex.org/W3089594064","https://openalex.org/W3102129812","https://openalex.org/W3127325540","https://openalex.org/W3132291970","https://openalex.org/W3200680488","https://openalex.org/W3206395965","https://openalex.org/W3206776160","https://openalex.org/W3206790221","https://openalex.org/W4233857083","https://openalex.org/W4388145520","https://openalex.org/W6652231383"],"related_works":["https://openalex.org/W4293094720","https://openalex.org/W2739701376","https://openalex.org/W4212966960","https://openalex.org/W3196708299","https://openalex.org/W3126674423","https://openalex.org/W1870383329","https://openalex.org/W2369065593","https://openalex.org/W2360228358","https://openalex.org/W2384054664","https://openalex.org/W2123106774"],"abstract_inverted_index":{"Most":[0],"current":[1],"LiDAR":[2,109],"simultaneous":[3],"localization":[4,92,121,166],"and":[5,89,93,119,128,141,167,179,184],"mapping":[6,53],"(SLAM)":[7],"systems":[8],"build":[9,115],"maps":[10,29,63,87],"in":[11,54],"point":[12],"clouds,":[13],"which":[14],"are":[15,30,187],"sparse":[16],"when":[17],"zoomed":[18],"in,":[19],"even":[20],"though":[21],"they":[22],"seem":[23],"dense":[24,50],"to":[25,40,70,82,90,95],"human":[26],"eyes.":[27],"Dense":[28],"essential":[31],"for":[32,52],"robotic":[33],"applications,":[34],"such":[35],"as":[36],"map-based":[37],"navigation.":[38],"Due":[39],"the":[41,84,105,123,137,172,176],"low":[42],"memory":[43],"cost,":[44],"mesh":[45,62,72,86,117,124,144],"has":[46],"become":[47],"an":[48,66],"attractive":[49],"model":[51],"recent":[55],"years.":[56],"However,":[57],"existing":[58],"methods":[59,81],"usually":[60],"produce":[61],"by":[64],"using":[65],"offline":[67],"post-processing":[68],"step":[69],"generate":[71],"maps.":[73,145],"This":[74],"two-step":[75],"pipeline":[76],"does":[77],"not":[78],"allow":[79],"these":[80],"use":[83],"built":[85],"online":[88],"enable":[91],"meshing":[94,130,168],"benefit":[96],"each":[97],"other.":[98],"To":[99],"solve":[100],"this":[101],"problem,":[102],"we":[103],"propose":[104],"first":[106],"CPU-only":[107],"real-time":[108],"SLAM":[110,158],"system":[111,159],"that":[112,156],"can":[113,160],"simultaneously":[114],"a":[116],"map":[118,178],"perform":[120,147],"against":[122],"map.":[125],"A":[126],"novel":[127],"direct":[129],"strategy":[131],"with":[132],"Gaussian":[133],"process":[134],"reconstruction":[135],"realizes":[136],"fast":[138],"building,":[139],"registration,":[140],"updating":[142],"of":[143],"We":[146],"experiments":[148],"on":[149],"several":[150],"public":[151],"datasets.":[152],"The":[153,165],"results":[154],"show":[155],"our":[157],"run":[161],"at":[162],"around":[163],"40Hz.":[164],"accuracy":[169],"also":[170],"outperforms":[171],"state-of-the-art":[173],"methods,":[174],"including":[175],"TSDF":[177],"Poisson":[180],"reconstruction.":[181],"Our":[182],"code":[183],"video":[185],"demos":[186],"available":[188],"at:":[189],"https://github.com/lab-sun/SLAMesh.":[190]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":17},{"year":2024,"cited_by_count":15}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
