{"id":"https://openalex.org/W4405785276","doi":"https://doi.org/10.1109/iros58592.2024.10801605","title":"MM-Gaussian: 3D Gaussian-based Multi-modal Fusion for Localization and Reconstruction in Unbounded Scenes","display_name":"MM-Gaussian: 3D Gaussian-based Multi-modal Fusion for Localization and Reconstruction in Unbounded Scenes","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405785276","doi":"https://doi.org/10.1109/iros58592.2024.10801605"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10801605","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801605","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5102200909","display_name":"Chenyang Wu","orcid":"https://orcid.org/0009-0000-2783-8485"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Chenyang Wu","raw_affiliation_strings":["University of Science and Technology of China,School of Computer Science and Technology,Hefei,China,230026"],"affiliations":[{"raw_affiliation_string":"University of Science and Technology of China,School of Computer Science and Technology,Hefei,China,230026","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066206169","display_name":"Yifan Duan","orcid":"https://orcid.org/0009-0004-0754-3953"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yifan Duan","raw_affiliation_strings":["University of Science and Technology of China,School of Computer Science and Technology,Hefei,China,230026"],"affiliations":[{"raw_affiliation_string":"University of Science and Technology of China,School of Computer Science and Technology,Hefei,China,230026","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007612160","display_name":"Xinran Zhang","orcid":"https://orcid.org/0000-0002-7540-2085"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinran Zhang","raw_affiliation_strings":["University of Science and Technology of China,School of Computer Science and Technology,Hefei,China,230026"],"affiliations":[{"raw_affiliation_string":"University of Science and Technology of China,School of Computer Science and Technology,Hefei,China,230026","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100770392","display_name":"Sheng Yu","orcid":"https://orcid.org/0000-0002-2913-6927"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yu Sheng","raw_affiliation_strings":["University of Science and Technology of China,School of Computer Science and Technology,Hefei,China,230026"],"affiliations":[{"raw_affiliation_string":"University of Science and Technology of China,School of Computer Science and Technology,Hefei,China,230026","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061104105","display_name":"Jianmin Ji","orcid":"https://orcid.org/0000-0002-1515-0402"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianmin Ji","raw_affiliation_strings":["University of Science and Technology of China,School of Computer Science and Technology,Hefei,China,230026"],"affiliations":[{"raw_affiliation_string":"University of Science and Technology of China,School of Computer Science and Technology,Hefei,China,230026","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103041851","display_name":"Yanyong Zhang","orcid":"https://orcid.org/0000-0001-9046-798X"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanyong Zhang","raw_affiliation_strings":["University of Science and Technology of China,School of Computer Science and Technology,Hefei,China,230026"],"affiliations":[{"raw_affiliation_string":"University of Science and Technology of China,School of Computer Science and Technology,Hefei,China,230026","institution_ids":["https://openalex.org/I126520041"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5102200909"],"corresponding_institution_ids":["https://openalex.org/I126520041"],"apc_list":null,"apc_paid":null,"fwci":20.8722,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.99194259,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"12287","last_page":"12293"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9961000084877014,"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":0.9961000084877014,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9934999942779541,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.993399977684021,"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/gaussian","display_name":"Gaussian","score":0.7045563459396362},{"id":"https://openalex.org/keywords/fusion","display_name":"Fusion","score":0.6055493950843811},{"id":"https://openalex.org/keywords/modal","display_name":"Modal","score":0.5638142228126526},{"id":"https://openalex.org/keywords/gaussian-process","display_name":"Gaussian process","score":0.5328947305679321},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5205598473548889},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.46508142352104187},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.43019434809684753},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.22053712606430054},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.11635446548461914}],"concepts":[{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.7045563459396362},{"id":"https://openalex.org/C158525013","wikidata":"https://www.wikidata.org/wiki/Q2593739","display_name":"Fusion","level":2,"score":0.6055493950843811},{"id":"https://openalex.org/C71139939","wikidata":"https://www.wikidata.org/wiki/Q910194","display_name":"Modal","level":2,"score":0.5638142228126526},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.5328947305679321},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5205598473548889},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.46508142352104187},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.43019434809684753},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.22053712606430054},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.11635446548461914},{"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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C188027245","wikidata":"https://www.wikidata.org/wiki/Q750446","display_name":"Polymer chemistry","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10801605","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801605","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"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":25,"referenced_works":["https://openalex.org/W1612997784","https://openalex.org/W2133665775","https://openalex.org/W2461937780","https://openalex.org/W2962785568","https://openalex.org/W3043075211","https://openalex.org/W3199184510","https://openalex.org/W4200150166","https://openalex.org/W4214768561","https://openalex.org/W4312776746","https://openalex.org/W4312878643","https://openalex.org/W4315778466","https://openalex.org/W4317796409","https://openalex.org/W4383108551","https://openalex.org/W4385318467","https://openalex.org/W4386066696","https://openalex.org/W4390872507","https://openalex.org/W4390873060","https://openalex.org/W4390873648","https://openalex.org/W4401414465","https://openalex.org/W4402300049","https://openalex.org/W4402698355","https://openalex.org/W4402698358","https://openalex.org/W4402727865","https://openalex.org/W6631190155","https://openalex.org/W6859420919"],"related_works":["https://openalex.org/W2379392295","https://openalex.org/W3160965418","https://openalex.org/W613940353","https://openalex.org/W2320915480","https://openalex.org/W2099421762","https://openalex.org/W2362990116","https://openalex.org/W2381300099","https://openalex.org/W1964286703","https://openalex.org/W2169866437","https://openalex.org/W3056417032"],"abstract_inverted_index":{"Localization":[0],"and":[1,13,42,66],"mapping":[2,43],"are":[3],"critical":[4],"tasks":[5],"for":[6,40],"various":[7],"applications":[8],"such":[9],"as":[10],"autonomous":[11],"vehicles":[12],"robotics.":[14],"The":[15],"challenges":[16],"posed":[17],"by":[18,51,80],"outdoor":[19,99],"environments":[20],"present":[21,33],"particular":[22],"complexities":[23],"due":[24],"to":[25,83,115,145],"their":[26],"unbounded":[27,45],"characteristics.":[28],"In":[29],"this":[30],"work,":[31],"we":[32,102,136],"MM-Gaussian,":[34],"a":[35,138,153],"LiDAR-camera":[36],"multimodal":[37],"fusion":[38],"system":[39,72],"localization":[41,154],"in":[44,61,97,121,143,149,158],"scenes.":[46],"Our":[47],"approach":[48],"is":[49],"inspired":[50],"the":[52,75,85,109,118,131,146,150,162],"recently":[53],"developed":[54],"3D":[55,104],"Gaussians,":[56],"which":[57,141],"demonstrate":[58,161],"remarkable":[59],"capabilities":[60],"achieving":[62,124],"high":[63],"rendering":[64,68,126],"quality":[65],"fast":[67],"speed.":[69],"Specifically,":[70],"our":[71,134,165],"fully":[73,116],"utilizes":[74],"geometric":[76],"structure":[77],"information":[78,120],"provided":[79],"solid-state":[81],"LiDAR":[82],"address":[84],"problem":[86],"of":[87,111,133,152,164],"inaccurate":[88],"depth":[89],"encountered":[90],"when":[91],"relying":[92],"solely":[93],"on":[94],"visual":[95],"solutions":[96],"unbounded,":[98],"scenarios.":[100],"Additionally,":[101],"utilize":[103],"Gaussian":[105],"point":[106],"clouds,":[107],"with":[108],"assistance":[110],"pixel-level":[112],"gradient":[113],"descent,":[114],"exploit":[117],"color":[119],"photos,":[122],"thereby":[123],"realistic":[125],"effects.":[127],"To":[128],"further":[129],"bolster":[130],"robustness":[132],"system,":[135],"designed":[137],"relocalization":[139],"module,":[140],"assists":[142],"returning":[144],"correct":[147],"trajectory":[148],"event":[151],"failure.":[155],"Experiments":[156],"conducted":[157],"multiple":[159],"scenarios":[160],"effectiveness":[163],"method.":[166]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":13},{"year":2024,"cited_by_count":1}],"updated_date":"2026-03-27T14:29:43.386196","created_date":"2025-10-10T00:00:00"}
