{"id":"https://openalex.org/W4413917033","doi":"https://doi.org/10.1109/icra55743.2025.11128286","title":"RGB-Only Gaussian Splatting SLAM for Unbounded Outdoor Scenes","display_name":"RGB-Only Gaussian Splatting SLAM for Unbounded Outdoor Scenes","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413917033","doi":"https://doi.org/10.1109/icra55743.2025.11128286"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11128286","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128286","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":"conference-paper","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2502.15633","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5104014314","display_name":"Sicheng Yu","orcid":null},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Sicheng Yu","raw_affiliation_strings":["The Hong Kong University of Science and Technology (GuangZhou)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Hong Kong University of Science and Technology (GuangZhou)","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100348801","display_name":"Chong Chen","orcid":"https://orcid.org/0000-0003-2800-4647"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Chong Cheng","raw_affiliation_strings":["The Hong Kong University of Science and Technology (GuangZhou)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Hong Kong University of Science and Technology (GuangZhou)","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102913015","display_name":"Yifan Zhou","orcid":"https://orcid.org/0009-0002-1615-3215"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Yifan Zhou","raw_affiliation_strings":["The Hong Kong University of Science and Technology (GuangZhou)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Hong Kong University of Science and Technology (GuangZhou)","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101987580","display_name":"Xiaojun Yang","orcid":"https://orcid.org/0000-0002-9489-9314"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Xiaojun Yang","raw_affiliation_strings":["The Hong Kong University of Science and Technology (GuangZhou)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Hong Kong University of Science and Technology (GuangZhou)","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5116592778","display_name":"Hao Wang","orcid":"https://orcid.org/0000-0003-2227-075X"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Hao Wang","raw_affiliation_strings":["The Hong Kong University of Science and Technology (GuangZhou)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Hong Kong University of Science and Technology (GuangZhou)","institution_ids":["https://openalex.org/I200769079"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I200769079"],"apc_list":null,"apc_paid":null,"fwci":51.7228,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.99880281,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"11068","last_page":"11074"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9965999722480774,"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":0.9965999722480774,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9850999712944031,"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"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.96670001745224,"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/computer-science","display_name":"Computer science","score":0.7362567186355591},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6764400005340576},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6689791083335876},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.5494807958602905},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.5098861455917358},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.4363164007663727},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.399624228477478},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.20883572101593018},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.19913122057914734}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7362567186355591},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6764400005340576},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6689791083335876},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.5494807958602905},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.5098861455917358},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.4363164007663727},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.399624228477478},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.20883572101593018},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.19913122057914734},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/icra55743.2025.11128286","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128286","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:arXiv.org:2502.15633","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2502.15633","pdf_url":"https://arxiv.org/pdf/2502.15633","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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":"text"},{"id":"pmh:doi:10.48550/arxiv.2502.15633","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2502.15633","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2502.15633","pdf_url":"https://arxiv.org/pdf/2502.15633","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W1987648924","https://openalex.org/W1991544872","https://openalex.org/W2085261163","https://openalex.org/W2133665775","https://openalex.org/W2250172176","https://openalex.org/W2535547924","https://openalex.org/W2951730755","https://openalex.org/W2962906584","https://openalex.org/W3035172746","https://openalex.org/W3035524985","https://openalex.org/W3043971245","https://openalex.org/W3102327032","https://openalex.org/W3112108866","https://openalex.org/W3193551877","https://openalex.org/W4214768561","https://openalex.org/W4221151978","https://openalex.org/W4232452729","https://openalex.org/W4290803068","https://openalex.org/W4307783807","https://openalex.org/W4312878643","https://openalex.org/W4383109324","https://openalex.org/W4385318467","https://openalex.org/W4386066489","https://openalex.org/W4389665446","https://openalex.org/W4389982407","https://openalex.org/W4390224511","https://openalex.org/W4390719155","https://openalex.org/W4390872919","https://openalex.org/W4393336161","https://openalex.org/W4399115734","https://openalex.org/W4399574562","https://openalex.org/W4402508564","https://openalex.org/W4402698355","https://openalex.org/W4402698358","https://openalex.org/W4402716305","https://openalex.org/W4402727865","https://openalex.org/W4402754302","https://openalex.org/W4402816534","https://openalex.org/W4403779097","https://openalex.org/W4406354808","https://openalex.org/W4413947081"],"related_works":["https://openalex.org/W28570768","https://openalex.org/W2912965286","https://openalex.org/W2949553486","https://openalex.org/W2486460843","https://openalex.org/W4288626232","https://openalex.org/W2168109476","https://openalex.org/W1968121071","https://openalex.org/W2061647633","https://openalex.org/W2542348219","https://openalex.org/W2020254986"],"abstract_inverted_index":{"3D":[0],"Gaussian":[1],"Splatting":[2],"(3DGS)":[3],"has":[4],"become":[5],"a":[6,47,61],"popular":[7],"solution":[8],"in":[9,38,174],"SLAM,":[10],"as":[11,106],"it":[12],"can":[13],"produce":[14],"high-fidelity":[15],"novel":[16,175],"views.":[17],"However,":[18],"previous":[19,167],"GS-based":[20],"methods":[21],"primarily":[22],"target":[23],"indoor":[24],"scenes":[25],"and":[26,84,119,170],"rely":[27],"on":[28,154],"RGB-D":[29],"sensors":[30],"or":[31],"pretrained":[32],"depth":[33,78],"estimation":[34],"models,":[35],"hence":[36],"underperforming":[37],"outdoor":[39],"scenarios.":[40],"To":[41],"address":[42],"this":[43],"issue,":[44],"we":[45,58,96,129],"propose":[46,97],"RGB-only":[48],"gaussian":[49],"splatting":[50],"SLAM":[51],"method":[52,112],"for":[53,71,136],"unbounded":[54],"out-door":[55],"scenes\u2014OpenGS-SLAM.":[56],"Technically,":[57],"first":[59],"employ":[60],"pointmap":[62,138,145],"regression":[63,139],"network":[64],"to":[65,75,147,164],"generate":[66],"consistent":[67],"pointmaps":[68,80],"between":[69],"frames":[70],"pose":[72,93],"estimation.":[73,94],"Compared":[74],"commonly":[76],"used":[77],"maps,":[79],"include":[81],"spatial":[82],"relationships":[83],"scene":[85,121],"geometry":[86],"across":[87],"multiple":[88],"views,":[89],"enabling":[90],"robust":[91],"camera":[92,101,117],"Then,":[95],"integrating":[98],"the":[99,137,148,155],"estimated":[100],"poses":[102,118],"with":[103],"3DGS":[104,120,149,168],"rendering":[105],"an":[107,132],"end-to-end":[108],"differentiable":[109],"pipeline.":[110],"Our":[111,152],"achieves":[113,171],"simultaneous":[114],"optimization":[115],"of":[116,166],"parameters,":[122],"significantly":[123],"enhancing":[124],"system":[125],"tracking":[126,162],"accuracy.":[127],"Specifically,":[128],"also":[130],"design":[131],"adaptive":[133],"scale":[134],"mapper":[135],"network,":[140],"which":[141],"provides":[142],"more":[143],"accurate":[144],"mapping":[146],"map":[150],"representation.":[151],"experiments":[153],"Waymo":[156],"dataset":[157],"demonstrate":[158],"that":[159],"OpenGS-SLAM":[160],"reduces":[161],"error":[163],"9.8%":[165],"methods,":[169],"state-of-the-art":[172],"results":[173],"view":[176],"synthesis.":[177],"Project":[178],"page:":[179],"https://3dagentworld.github.io/pengs-slam/.":[180]},"counts_by_year":[{"year":2025,"cited_by_count":8}],"updated_date":"2026-07-30T17:31:21.811387","created_date":"2025-10-10T00:00:00"}