{"id":"https://openalex.org/W4413926054","doi":"https://doi.org/10.1109/icra55743.2025.11127551","title":"HS-SLAM: Hybrid Representation with Structural Supervision for Improved Dense SLAM","display_name":"HS-SLAM: Hybrid Representation with Structural Supervision for Improved Dense SLAM","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413926054","doi":"https://doi.org/10.1109/icra55743.2025.11127551"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11127551","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127551","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 Robotics and Automation (ICRA)","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/A5102620404","display_name":"Ziren Gong","orcid":null},"institutions":[{"id":"https://openalex.org/I9360294","display_name":"University of Bologna","ror":"https://ror.org/01111rn36","country_code":"IT","type":"education","lineage":["https://openalex.org/I9360294"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Ziren Gong","raw_affiliation_strings":["University of Bologna"],"affiliations":[{"raw_affiliation_string":"University of Bologna","institution_ids":["https://openalex.org/I9360294"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025804456","display_name":"Fabio Tosi","orcid":"https://orcid.org/0000-0002-6276-5282"},"institutions":[{"id":"https://openalex.org/I9360294","display_name":"University of Bologna","ror":"https://ror.org/01111rn36","country_code":"IT","type":"education","lineage":["https://openalex.org/I9360294"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Fabio Tosi","raw_affiliation_strings":["University of Bologna"],"affiliations":[{"raw_affiliation_string":"University of Bologna","institution_ids":["https://openalex.org/I9360294"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100416422","display_name":"Youmin Zhang","orcid":"https://orcid.org/0000-0002-9731-5943"},"institutions":[{"id":"https://openalex.org/I4210086094","display_name":"Universal University","ror":"https://ror.org/00h63w240","country_code":"RU","type":"education","lineage":["https://openalex.org/I4210086094"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Youmin Zhang","raw_affiliation_strings":["Rock Universe"],"affiliations":[{"raw_affiliation_string":"Rock Universe","institution_ids":["https://openalex.org/I4210086094"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072569849","display_name":"Stefano Mattoccia","orcid":"https://orcid.org/0000-0002-3681-7704"},"institutions":[{"id":"https://openalex.org/I9360294","display_name":"University of Bologna","ror":"https://ror.org/01111rn36","country_code":"IT","type":"education","lineage":["https://openalex.org/I9360294"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Stefano Mattoccia","raw_affiliation_strings":["University of Bologna"],"affiliations":[{"raw_affiliation_string":"University of Bologna","institution_ids":["https://openalex.org/I9360294"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5036563362","display_name":"Matteo Poggi","orcid":"https://orcid.org/0000-0002-3337-2236"},"institutions":[{"id":"https://openalex.org/I9360294","display_name":"University of Bologna","ror":"https://ror.org/01111rn36","country_code":"IT","type":"education","lineage":["https://openalex.org/I9360294"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Matteo Poggi","raw_affiliation_strings":["University of Bologna"],"affiliations":[{"raw_affiliation_string":"University of Bologna","institution_ids":["https://openalex.org/I9360294"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5102620404"],"corresponding_institution_ids":["https://openalex.org/I9360294"],"apc_list":null,"apc_paid":null,"fwci":19.2308,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.98890143,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"8464","last_page":"8470"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9987999796867371,"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":0.9987999796867371,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.991100013256073,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9868000149726868,"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/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.7925859689712524},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.7204908132553101},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5802017450332642},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5549267530441284},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5391249060630798},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2563333511352539},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1653609275817871},{"id":"https://openalex.org/keywords/political-science","display_name":"Political science","score":0.06418702006340027}],"concepts":[{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.7925859689712524},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.7204908132553101},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5802017450332642},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5549267530441284},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5391249060630798},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2563333511352539},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1653609275817871},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.06418702006340027},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra55743.2025.11127551","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127551","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 Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:cris.unibo.it:11585/1049022","is_oa":false,"landing_page_url":"https://hdl.handle.net/11585/1049022","pdf_url":null,"source":{"id":"https://openalex.org/S4306402579","display_name":"Archivio istituzionale della ricerca (Alma Mater Studiorum Universit\u00e0 di Bologna)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210117483","host_organization_name":"Istituto di Ematologia di Bologna","host_organization_lineage":["https://openalex.org/I4210117483"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W1987648924","https://openalex.org/W2021851106","https://openalex.org/W2097696373","https://openalex.org/W2108134361","https://openalex.org/W2250172176","https://openalex.org/W2336961836","https://openalex.org/W2535547924","https://openalex.org/W2594519801","https://openalex.org/W2606794968","https://openalex.org/W2951730755","https://openalex.org/W2979652999","https://openalex.org/W3000674297","https://openalex.org/W3016662517","https://openalex.org/W3043971245","https://openalex.org/W3048686556","https://openalex.org/W3173813979","https://openalex.org/W4200150166","https://openalex.org/W4214768561","https://openalex.org/W4221151978","https://openalex.org/W4312453532","https://openalex.org/W4312703683","https://openalex.org/W4312878643","https://openalex.org/W4385318467","https://openalex.org/W4386066489","https://openalex.org/W4386066696","https://openalex.org/W4390872919","https://openalex.org/W4390873648","https://openalex.org/W4390874175","https://openalex.org/W4392904189","https://openalex.org/W4393147528","https://openalex.org/W4402698355","https://openalex.org/W4402698358","https://openalex.org/W4402716403","https://openalex.org/W4402727238","https://openalex.org/W4402754302"],"related_works":["https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"NeRF-based":[0],"SLAM":[1],"has":[2],"recently":[3],"achieved":[4],"promising":[5],"results":[6,116],"in":[7,16,28,123],"tracking":[8,124],"and":[9,24,65,70,111,125],"reconstruction.":[10,73],"However,":[11],"existing":[12],"methods":[13],"face":[14],"challenges":[15],"providing":[17],"sufficient":[18],"scene":[19,48,93],"representation,":[20],"capturing":[21],"structural":[22,77],"information,":[23],"maintaining":[25,129],"global":[26,97,103],"consistency":[27],"scenes":[29],"emerging":[30],"significant":[31],"movement":[32],"or":[33],"being":[34],"forgotten.":[35],"To":[36,46,95],"this":[37],"end,":[38],"we":[39,51,75,99],"present":[40],"HS-SLAM":[41,119],"to":[42,89,107],"tackle":[43],"these":[44],"problems.":[45],"enhance":[47],"representation":[49],"capacity,":[50],"propose":[52],"a":[53],"hybrid":[54],"encoding":[55],"network":[56],"that":[57,118],"combines":[58],"the":[59,68,92,121,130],"complementary":[60],"strengths":[61],"of":[62,72,82],"hash-grid,":[63],"tri-planes,":[64],"one-blob,":[66],"improving":[67],"completeness":[69],"smoothness":[71],"Additionally,":[74],"introduce":[76],"supervision":[78],"by":[79],"sampling":[80],"patches":[81],"non-local":[83],"pixels":[84],"rather":[85],"than":[86],"individual":[87],"rays":[88],"better":[90],"capture":[91],"structure.":[94],"ensure":[96],"consistency,":[98],"implement":[100],"an":[101],"active":[102],"bundle":[104],"adjustment":[105],"(BA)":[106],"eliminate":[108],"camera":[109],"drifts":[110],"mitigate":[112],"accumulative":[113],"errors.":[114],"Experimental":[115],"demonstrate":[117],"outperforms":[120],"baselines":[122],"reconstruction":[126],"accuracy":[127],"while":[128],"efficiency":[131],"required":[132],"for":[133],"robotics.":[134]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":2}],"updated_date":"2026-04-23T09:07:50.710637","created_date":"2025-10-10T00:00:00"}