{"id":"https://openalex.org/W4413925158","doi":"https://doi.org/10.1109/icra55743.2025.11128806","title":"Optimizing NeRF-Based SLAM with Trajectory Smoothness Constraints","display_name":"Optimizing NeRF-Based SLAM with Trajectory Smoothness Constraints","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413925158","doi":"https://doi.org/10.1109/icra55743.2025.11128806"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11128806","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128806","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/A5080066358","display_name":"Yicheng He","orcid":"https://orcid.org/0000-0003-3213-9907"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yicheng He","raw_affiliation_strings":["Southern University of Science and Technology,Shenzhen Key Laboratory of Robotics and Computer Vision,Shenzhen,China"],"affiliations":[{"raw_affiliation_string":"Southern University of Science and Technology,Shenzhen Key Laboratory of Robotics and Computer Vision,Shenzhen,China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103117694","display_name":"Guangcheng Chen","orcid":"https://orcid.org/0000-0001-8191-3327"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guangcheng Chen","raw_affiliation_strings":["Southern University of Science and Technology,Shenzhen Key Laboratory of Robotics and Computer Vision,Shenzhen,China"],"affiliations":[{"raw_affiliation_string":"Southern University of Science and Technology,Shenzhen Key Laboratory of Robotics and Computer Vision,Shenzhen,China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5037836537","display_name":"Hong Zhang","orcid":"https://orcid.org/0000-0002-3116-5663"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hong Zhang","raw_affiliation_strings":["Southern University of Science and Technology,Shenzhen Key Laboratory of Robotics and Computer Vision,Shenzhen,China"],"affiliations":[{"raw_affiliation_string":"Southern University of Science and Technology,Shenzhen Key Laboratory of Robotics and Computer Vision,Shenzhen,China","institution_ids":["https://openalex.org/I3045169105"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5080066358"],"corresponding_institution_ids":["https://openalex.org/I3045169105"],"apc_list":null,"apc_paid":null,"fwci":3.4363,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.93692307,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"11054","last_page":"11060"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9988999962806702,"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":0.9988999962806702,"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":0.9980000257492065,"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/T12288","display_name":"Optimization and Search Problems","score":0.9958000183105469,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/trajectory","display_name":"Trajectory","score":0.8147486448287964},{"id":"https://openalex.org/keywords/smoothness","display_name":"Smoothness","score":0.8144661784172058},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6175430417060852},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.4856192171573639},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3355209231376648},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.33422988653182983},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.329632967710495},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.32443395256996155},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16910484433174133},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.16752862930297852},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12425753474235535},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.10473006963729858},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.0625341534614563}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.8147486448287964},{"id":"https://openalex.org/C102634674","wikidata":"https://www.wikidata.org/wiki/Q868473","display_name":"Smoothness","level":2,"score":0.8144661784172058},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6175430417060852},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.4856192171573639},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3355209231376648},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.33422988653182983},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.329632967710495},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.32443395256996155},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16910484433174133},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.16752862930297852},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12425753474235535},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.10473006963729858},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0625341534614563},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11128806","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128806","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":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W1993267444","https://openalex.org/W1993938889","https://openalex.org/W1998058414","https://openalex.org/W2019321876","https://openalex.org/W2021851106","https://openalex.org/W2076231474","https://openalex.org/W2101028311","https://openalex.org/W2114084853","https://openalex.org/W2116334708","https://openalex.org/W2200993670","https://openalex.org/W2336961836","https://openalex.org/W2396113684","https://openalex.org/W2594519801","https://openalex.org/W2990449593","https://openalex.org/W3043971245","https://openalex.org/W3136656704","https://openalex.org/W3154129649","https://openalex.org/W3199503344","https://openalex.org/W3206768813","https://openalex.org/W4200150166","https://openalex.org/W4214768561","https://openalex.org/W4221151978","https://openalex.org/W4312878643","https://openalex.org/W4313186498","https://openalex.org/W4321512716","https://openalex.org/W4383109324","https://openalex.org/W4386066489","https://openalex.org/W4386066696","https://openalex.org/W4386076567","https://openalex.org/W4389665446","https://openalex.org/W4401413641","https://openalex.org/W4401415835","https://openalex.org/W4401417384","https://openalex.org/W4402754302","https://openalex.org/W4402916634"],"related_works":["https://openalex.org/W2393022482","https://openalex.org/W2377346130","https://openalex.org/W2361092061","https://openalex.org/W2319775965","https://openalex.org/W2357314690","https://openalex.org/W2191886813","https://openalex.org/W1986317414","https://openalex.org/W2795976185","https://openalex.org/W4323768008","https://openalex.org/W1941703695"],"abstract_inverted_index":{"The":[0],"joint":[1],"optimization":[2],"of":[3,47,69,113],"Neural":[4],"Radiance":[5],"Fields":[6],"(NeRF)":[7],"and":[8,25,52,109,151],"camera":[9,30,56,88,103,131],"trajectories":[10,89,132],"has":[11],"been":[12],"widely":[13,39],"applied":[14],"in":[15,59,75],"SLAM":[16,28,157],"tasks":[17],"due":[18],"to":[19,138],"its":[20],"superior":[21,148],"dense":[22],"mapping":[23,153],"quality":[24,154],"consistency.":[26],"NeRF-based":[27,71,156],"learns":[29],"poses":[31],"using":[32,123],"constraints":[33,46,86],"by":[34,90,133],"implicit":[35],"map":[36,63],"representation.":[37],"A":[38],"observed":[40],"phenomenon":[41],"that":[42,100,145,158],"results":[43,143],"from":[44,106],"the":[45,62,107,119,135,162],"this":[48,67,76],"form":[49],"is":[50],"jerky":[51],"physically":[53],"unrealistic":[54],"estimated":[55],"motion,":[57],"which":[58],"turn":[60],"affects":[61],"quality.":[64],"To":[65],"address":[66],"deficiency":[68],"current":[70],"SLAM,":[72],"we":[73,129],"propose":[74],"paper":[77],"TS-SLAM":[78,115,146],"(TS":[79],"for":[80],"Trajectory":[81],"Smoothness).":[82],"It":[83],"introduces":[84],"smoothness":[85,164],"on":[87],"representing":[91],"them":[92],"with":[93,97],"uniform":[94],"cubic":[95],"B-splines":[96],"continuous":[98],"acceleration":[99],"guarantees":[101],"smooth":[102,140],"motion.":[104],"Benefiting":[105],"differentiability":[108],"local":[110],"control":[111,120],"properties":[112],"B-splines,":[114],"can":[116],"incrementally":[117],"learn":[118],"points":[121],"end-to-end":[122],"a":[124],"sliding":[125],"window":[126],"paradigm.":[127],"Additionally,":[128],"regularize":[130],"exploiting":[134],"dynamics":[136],"prior":[137],"further":[139],"trajectories.":[141],"Experimental":[142],"demonstrate":[144],"achieves":[147],"trajectory":[149],"accuracy":[150],"improves":[152],"versus":[155],"does":[159],"not":[160],"employ":[161],"above":[163],"constraints.":[165]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}