{"id":"https://openalex.org/W4413945507","doi":"https://doi.org/10.1109/icra55743.2025.11128341","title":"Modeling Uncertainty in 3D Gaussian Splatting Through Continuous Semantic Splatting","display_name":"Modeling Uncertainty in 3D Gaussian Splatting Through Continuous Semantic Splatting","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413945507","doi":"https://doi.org/10.1109/icra55743.2025.11128341"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11128341","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128341","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":["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/A5028750496","display_name":"Joey Wilson","orcid":"https://orcid.org/0000-0002-9305-9647"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Joey Wilson","raw_affiliation_strings":["University of Michigan,Ann Arbor,MI,USA,48109"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Michigan,Ann Arbor,MI,USA,48109","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091520678","display_name":"Marcelino Almeida","orcid":null},"institutions":[{"id":"https://openalex.org/I1311688040","display_name":"Amazon (United States)","ror":"https://ror.org/04mv4n011","country_code":"US","type":"company","lineage":["https://openalex.org/I1311688040"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Marcelino Almeida","raw_affiliation_strings":["Amazon Lab 126,Sunnyvale,CA,USA,94089"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Amazon Lab 126,Sunnyvale,CA,USA,94089","institution_ids":["https://openalex.org/I1311688040"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100964116","display_name":"Min Sun","orcid":null},"institutions":[{"id":"https://openalex.org/I1311688040","display_name":"Amazon (United States)","ror":"https://ror.org/04mv4n011","country_code":"US","type":"company","lineage":["https://openalex.org/I1311688040"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Min Sun","raw_affiliation_strings":["Amazon Lab 126,Sunnyvale,CA,USA,94089"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Amazon Lab 126,Sunnyvale,CA,USA,94089","institution_ids":["https://openalex.org/I1311688040"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071735806","display_name":"S. M. Mahajan","orcid":"https://orcid.org/0009-0002-0652-9258"},"institutions":[{"id":"https://openalex.org/I1311688040","display_name":"Amazon (United States)","ror":"https://ror.org/04mv4n011","country_code":"US","type":"company","lineage":["https://openalex.org/I1311688040"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sachit Mahajan","raw_affiliation_strings":["Amazon Lab 126,Sunnyvale,CA,USA,94089"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Amazon Lab 126,Sunnyvale,CA,USA,94089","institution_ids":["https://openalex.org/I1311688040"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046777734","display_name":"Maani Ghaffari","orcid":"https://orcid.org/0000-0002-4734-4295"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Maani Ghaffari","raw_affiliation_strings":["University of Michigan,Ann Arbor,MI,USA,48109"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Michigan,Ann Arbor,MI,USA,48109","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087569680","display_name":"Parker Ewen","orcid":"https://orcid.org/0000-0002-3693-7394"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Parker Ewen","raw_affiliation_strings":["University of Michigan,Ann Arbor,MI,USA,48109"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Michigan,Ann Arbor,MI,USA,48109","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006094996","display_name":"Omid Ghasemalizadeh","orcid":"https://orcid.org/0000-0003-3142-8133"},"institutions":[{"id":"https://openalex.org/I1311688040","display_name":"Amazon (United States)","ror":"https://ror.org/04mv4n011","country_code":"US","type":"company","lineage":["https://openalex.org/I1311688040"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Omid Ghasemalizadeh","raw_affiliation_strings":["Amazon Lab 126,Sunnyvale,CA,USA,94089"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Amazon Lab 126,Sunnyvale,CA,USA,94089","institution_ids":["https://openalex.org/I1311688040"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103028980","display_name":"Cheng\u2013Hao Kuo","orcid":"https://orcid.org/0000-0001-9464-9625"},"institutions":[{"id":"https://openalex.org/I1311688040","display_name":"Amazon (United States)","ror":"https://ror.org/04mv4n011","country_code":"US","type":"company","lineage":["https://openalex.org/I1311688040"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Cheng-Hao Kuo","raw_affiliation_strings":["Amazon Lab 126,Sunnyvale,CA,USA,94089"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Amazon Lab 126,Sunnyvale,CA,USA,94089","institution_ids":["https://openalex.org/I1311688040"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5053890173","display_name":"Arnie Sen","orcid":null},"institutions":[{"id":"https://openalex.org/I1311688040","display_name":"Amazon (United States)","ror":"https://ror.org/04mv4n011","country_code":"US","type":"company","lineage":["https://openalex.org/I1311688040"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Arnie Sen","raw_affiliation_strings":["Amazon Lab 126,Sunnyvale,CA,USA,94089"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Amazon Lab 126,Sunnyvale,CA,USA,94089","institution_ids":["https://openalex.org/I1311688040"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.628,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.89610666,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"3284","last_page":"3290"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12111","display_name":"Industrial Vision Systems and Defect Detection","score":0.7659000158309937,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/T12111","display_name":"Industrial Vision Systems and Defect Detection","score":0.7659000158309937,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/T11512","display_name":"Anomaly Detection Techniques and Applications","score":0.6913999915122986,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T14339","display_name":"Image Processing and 3D Reconstruction","score":0.6901000142097473,"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":0.8263949155807495},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.5161112546920776},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4080424904823303},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.040990084409713745}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8263949155807495},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.5161112546920776},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4080424904823303},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.040990084409713745},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11128341","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128341","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1912649600","https://openalex.org/W1971618559","https://openalex.org/W1977189000","https://openalex.org/W2000063120","https://openalex.org/W2017351261","https://openalex.org/W2028284985","https://openalex.org/W2410641873","https://openalex.org/W2523049145","https://openalex.org/W2887922452","https://openalex.org/W2912063360","https://openalex.org/W2945883617","https://openalex.org/W2962894046","https://openalex.org/W2963632154","https://openalex.org/W2973181288","https://openalex.org/W3009928773","https://openalex.org/W3109585842","https://openalex.org/W3172477795","https://openalex.org/W4285169760","https://openalex.org/W4327662982","https://openalex.org/W4383097420","https://openalex.org/W4385318467","https://openalex.org/W4391800855","https://openalex.org/W4402716032","https://openalex.org/W4402727529","https://openalex.org/W4402727865","https://openalex.org/W4403365861","https://openalex.org/W4405787109","https://openalex.org/W4413558613"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"In":[0],"this":[1,52],"paper,":[2],"we":[3,54],"present":[4],"a":[5,44,56,87,94,118],"novel":[6],"algorithm":[7,92],"for":[8,33,46],"probabilistically":[9],"updating":[10],"and":[11,107,145,152],"rasterizing":[12],"semantic":[13,64,96],"maps":[14],"within":[15],"3D":[16,101,143],"Gaussian":[17],"Splatting":[18],"(3D-GS).":[19],"Although":[20],"previous":[21],"methods":[22,137],"have":[23],"introduced":[24],"algorithms":[25],"which":[26,42,58,121],"learn":[27],"to":[28,68,79,103,138,142],"rasterize":[29],"features":[30],"in":[31],"3D-GS":[32,37,75],"enhanced":[34],"scene":[35],"understanding,":[36],"can":[38],"fail":[39],"without":[40],"warning":[41],"presents":[43],"challenge":[45],"safety-critical":[47],"robotic":[48,84],"applications.":[49],"To":[50],"address":[51],"gap,":[53],"propose":[55,117],"method":[57,132],"advances":[59],"the":[60,71,77,100,110],"literature":[61],"of":[62,74,82,89,112],"continuous":[63],"mapping":[65],"from":[66],"voxels":[67],"ellipsoids,":[69,144],"combining":[70],"precise":[72],"structure":[73],"with":[76,126,133],"ability":[78],"quantify":[80],"uncertainty":[81,150],"probabilistic":[83,95,119,135],"maps.":[85],"Given":[86],"set":[88],"images,":[90],"our":[91,131,140],"performs":[93],"update":[97],"directly":[98],"on":[99,149],"ellipsoids":[102],"obtain":[104],"an":[105],"expectation":[106],"variance":[108],"through":[109],"use":[111],"conjugate":[113],"priors.":[114],"We":[115,129],"also":[116],"rasterization":[120],"returns":[122],"per-pixel":[123],"segmentation":[124],"predictions":[125],"quantifiable":[127],"uncertainty.":[128],"compare":[130],"similar":[134],"voxel-based":[136],"verify":[139],"extension":[141],"perform":[146],"ablation":[147],"studies":[148],"quantification":[151],"temporal":[153],"smoothing.":[154]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}