{"id":"https://openalex.org/W4413944818","doi":"https://doi.org/10.1109/icra55743.2025.11128492","title":"VSS-SLAM: Voxelized Surfel Splatting for Geometally Accurate SLAM","display_name":"VSS-SLAM: Voxelized Surfel Splatting for Geometally Accurate SLAM","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413944818","doi":"https://doi.org/10.1109/icra55743.2025.11128492"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11128492","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128492","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/A5111038508","display_name":"Xuanhua Chen","orcid":"https://orcid.org/0000-0003-3328-1892"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuanhua Chen","raw_affiliation_strings":["College of Information Science and Engineering, Northeastern University,Shenyang,China,110819"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Information Science and Engineering, Northeastern University,Shenyang,China,110819","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038287028","display_name":"Yunzhou Zhang","orcid":"https://orcid.org/0000-0003-0610-3732"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yunzhou Zhang","raw_affiliation_strings":["College of Information Science and Engineering, Northeastern University,Shenyang,China,110819"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Information Science and Engineering, Northeastern University,Shenyang,China,110819","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101545477","display_name":"Zhiyao Zhang","orcid":"https://orcid.org/0000-0002-7227-5084"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiyao Zhang","raw_affiliation_strings":["College of Information Science and Engineering, Northeastern University,Shenyang,China,110819"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Information Science and Engineering, Northeastern University,Shenyang,China,110819","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100334018","display_name":"Guoqing Wang","orcid":"https://orcid.org/0000-0002-3938-5994"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guoqing Wang","raw_affiliation_strings":["College of Information Science and Engineering, Northeastern University,Shenyang,China,110819"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Information Science and Engineering, Northeastern University,Shenyang,China,110819","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100344053","display_name":"Bin Zhao","orcid":"https://orcid.org/0000-0001-8397-7260"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bin Zhao","raw_affiliation_strings":["College of Information Science and Engineering, Northeastern University,Shenyang,China,110819"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Information Science and Engineering, Northeastern University,Shenyang,China,110819","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5009637315","display_name":"Xingshuo Wang","orcid":"https://orcid.org/0000-0003-1687-2455"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xingshuo Wang","raw_affiliation_strings":["College of Information Science and Engineering, Northeastern University,Shenyang,China,110819"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Information Science and Engineering, Northeastern University,Shenyang,China,110819","institution_ids":["https://openalex.org/I9224756"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I9224756"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"139","last_page":"145"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11301","display_name":"Advanced Surface Polishing Techniques","score":0.9733999967575073,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T11301","display_name":"Advanced Surface Polishing Techniques","score":0.9733999967575073,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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":0.958299994468689,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9563000202178955,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.793359637260437},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5514854788780212},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5239964723587036},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5040213465690613},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.44519808888435364},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.21937018632888794},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1448047161102295}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.793359637260437},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5514854788780212},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5239964723587036},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5040213465690613},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.44519808888435364},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.21937018632888794},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1448047161102295}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11128492","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128492","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":[{"id":"https://openalex.org/G4285396571","display_name":null,"funder_award_id":"61973066","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W2021851106","https://openalex.org/W2535547924","https://openalex.org/W3153220274","https://openalex.org/W3203570626","https://openalex.org/W4200150166","https://openalex.org/W4214768561","https://openalex.org/W4249866455","https://openalex.org/W4307783807","https://openalex.org/W4312878643","https://openalex.org/W4321512716","https://openalex.org/W4383109324","https://openalex.org/W4385318467","https://openalex.org/W4386066489","https://openalex.org/W4386066696","https://openalex.org/W4386075857","https://openalex.org/W4390873648","https://openalex.org/W4393248012","https://openalex.org/W4402698355","https://openalex.org/W4402698358","https://openalex.org/W4402704609","https://openalex.org/W4402715988","https://openalex.org/W4402716305","https://openalex.org/W4402727288","https://openalex.org/W4402727865","https://openalex.org/W4403770223","https://openalex.org/W4404524486","https://openalex.org/W4410204460"],"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":{"[1]":[0],"Visual":[1],"Simultaneous":[2],"Localization":[3],"and":[4,12,28,67,88,91,120,128,137,144],"Mapping":[5],"(SLAM)":[6],"helps":[7],"robots":[8],"estimate":[9],"their":[10],"poses":[11,117],"perceive":[13],"the":[14,50,63,84,98,110,126],"environment":[15],"in":[16,56,71,94,141],"unknown":[17,57],"settings.":[18],"Recent":[19],"work":[20],"has":[21],"demonstrated":[22],"that":[23,132],"implicit":[24],"neural":[25],"radiance":[26],"fields":[27],"3D":[29],"Gaussian":[30],"Splatting":[31],"(3DGS)":[32],"offer":[33],"higher":[34],"fidelity":[35],"scene":[36,85],"representation":[37,52,60],"than":[38],"traditional":[39],"map":[40,51],"representations.":[41],"We":[42],"propose":[43],"VSS-SLAM,":[44],"which":[45],"utilizes":[46],"voxelized":[47],"surfels":[48],"as":[49],"for":[53],"incremental":[54],"mapping":[55],"environments.":[58,146],"This":[59],"effectively":[61],"addresses":[62],"issue":[64],"of":[65],"redundant":[66],"disordered":[68],"primitives":[69],"encountered":[70],"previous":[72],"methods,":[73],"thereby":[74],"enhancing":[75],"geometric":[76,90],"accuracy":[77],"during":[78],"reconstruction.":[79],"Specifically,":[80],"our":[81],"approach":[82],"divides":[83],"using":[86],"voxels":[87],"stores":[89],"appearance":[92],"information":[93],"feature":[95,104],"vectors":[96,105],"at":[97],"voxel":[99],"vertices.":[100],"Before":[101],"rendering,":[102],"these":[103],"are":[106],"decoded":[107],"to":[108],"generate":[109],"corresponding":[111],"surfels.":[112],"Additionally,":[113],"we":[114],"align":[115],"camera":[116],"through":[118],"image":[119],"depth":[121],"rendering.":[122],"Extensive":[123],"experiments":[124],"on":[125],"Replica":[127],"TUM-RGBD":[129],"datasets":[130],"demonstrate":[131],"VSS-SLAM":[133],"delivers":[134],"high-fidelity":[135],"reconstruction":[136],"accurate":[138],"pose":[139],"estimation":[140],"both":[142],"simulated":[143],"real-world":[145],"Source":[147],"code":[148],"will":[149],"soon":[150],"be":[151],"available.":[152]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
