{"id":"https://openalex.org/W4405784946","doi":"https://doi.org/10.1109/iros58592.2024.10802389","title":"MM3DGS SLAM: Multi-modal 3D Gaussian Splatting for SLAM Using Vision, Depth, and Inertial Measurements","display_name":"MM3DGS SLAM: Multi-modal 3D Gaussian Splatting for SLAM Using Vision, Depth, and Inertial Measurements","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405784946","doi":"https://doi.org/10.1109/iros58592.2024.10802389"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10802389","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802389","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/A5112933267","display_name":"Lisong C. Sun","orcid":null},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Lisong C. Sun","raw_affiliation_strings":["University of Texas at Austin,Austin,TX,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Texas at Austin,Austin,TX,USA","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011535031","display_name":"Neel P. Bhatt","orcid":"https://orcid.org/0000-0002-1807-9672"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Neel P. Bhatt","raw_affiliation_strings":["University of Texas at Austin,Austin,TX,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Texas at Austin,Austin,TX,USA","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031467259","display_name":"Jonathan C. Liu","orcid":null},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jonathan C. Liu","raw_affiliation_strings":["University of Texas at Austin,Austin,TX,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Texas at Austin,Austin,TX,USA","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101287542","display_name":"Zhiwen Fan","orcid":null},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zhiwen Fan","raw_affiliation_strings":["University of Texas at Austin,Austin,TX,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Texas at Austin,Austin,TX,USA","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048522863","display_name":"Zhangyang Wang","orcid":"https://orcid.org/0000-0002-2050-5693"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zhangyang Wang","raw_affiliation_strings":["University of Texas at Austin,Austin,TX,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Texas at Austin,Austin,TX,USA","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026955319","display_name":"Todd E. Humphreys","orcid":"https://orcid.org/0000-0003-0749-6988"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Todd E. Humphreys","raw_affiliation_strings":["University of Texas at Austin,Austin,TX,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Texas at Austin,Austin,TX,USA","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068441112","display_name":"Ufuk Topcu","orcid":"https://orcid.org/0000-0003-0819-9985"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ufuk Topcu","raw_affiliation_strings":["University of Texas at Austin,Austin,TX,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Texas at Austin,Austin,TX,USA","institution_ids":["https://openalex.org/I86519309"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5112933267"],"corresponding_institution_ids":["https://openalex.org/I86519309"],"apc_list":null,"apc_paid":null,"fwci":32.1196,"has_fulltext":false,"cited_by_count":24,"citation_normalized_percentile":{"value":0.99618955,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"10159","last_page":"10166"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9907000064849854,"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":0.9846000075340271,"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":0.7467954158782959},{"id":"https://openalex.org/keywords/modal","display_name":"Modal","score":0.6543973088264465},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.6472876071929932},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5248365998268127},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.5228579044342041},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5087125897407532},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.45248889923095703},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.16658824682235718},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.13243725895881653},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08328017592430115},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.055574506521224976}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7467954158782959},{"id":"https://openalex.org/C71139939","wikidata":"https://www.wikidata.org/wiki/Q910194","display_name":"Modal","level":2,"score":0.6543973088264465},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6472876071929932},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5248365998268127},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.5228579044342041},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5087125897407532},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.45248889923095703},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.16658824682235718},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.13243725895881653},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08328017592430115},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.055574506521224976},{"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/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/iros58592.2024.10802389","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802389","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/F4320332815","display_name":"Advanced Research Projects Agency","ror":"https://ror.org/02caytj08"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W1612997784","https://openalex.org/W2021851106","https://openalex.org/W2091790851","https://openalex.org/W2102166818","https://openalex.org/W2108134361","https://openalex.org/W2128019145","https://openalex.org/W2133665775","https://openalex.org/W2180280991","https://openalex.org/W2318225426","https://openalex.org/W2336961836","https://openalex.org/W2396274919","https://openalex.org/W2471962767","https://openalex.org/W2519683295","https://openalex.org/W2797395780","https://openalex.org/W2887036838","https://openalex.org/W2951730755","https://openalex.org/W3013325599","https://openalex.org/W4200150166","https://openalex.org/W4214520160","https://openalex.org/W4214768561","https://openalex.org/W4221151978","https://openalex.org/W4312325284","https://openalex.org/W4312878643","https://openalex.org/W4383108876","https://openalex.org/W4385318467","https://openalex.org/W4391768464","https://openalex.org/W4396853098","https://openalex.org/W4399767129","https://openalex.org/W4402698355","https://openalex.org/W4402698358","https://openalex.org/W4402727865","https://openalex.org/W4402775411","https://openalex.org/W4403069195","https://openalex.org/W6859420919","https://openalex.org/W6862843284"],"related_works":["https://openalex.org/W28570768","https://openalex.org/W3125070615","https://openalex.org/W2912965286","https://openalex.org/W2949553486","https://openalex.org/W4288626232","https://openalex.org/W2379392295","https://openalex.org/W3160965418","https://openalex.org/W4389558692","https://openalex.org/W613940353","https://openalex.org/W2542348219"],"abstract_inverted_index":{"Simultaneous":[0],"localization":[1],"and":[2,9,19,45,70,79,95,117,139],"mapping":[3,78],"is":[4],"essential":[5],"for":[6,30,38],"position":[7],"tracking":[8,80,138],"scene":[10],"understanding.":[11],"3D":[12,36,161],"Gaussian-based":[13],"map":[14,39],"representations":[15,63],"enable":[16,49],"photorealistic":[17],"reconstruction":[18],"real-time":[20,155],"rendering":[21,99,144,156],"of":[22,58,97,157],"scenes":[23,126],"using":[24,35],"multiple":[25],"posed":[26],"cameras.":[27],"We":[28,101],"show":[29],"the":[31,56,128,148],"first":[32],"time":[33],"that":[34,84,131],"Gaussians":[37],"representation":[40],"with":[41,114],"unposed":[42],"camera":[43,116],"images":[44],"inertial":[46,91,119],"measurements":[47],"can":[48],"accurate":[50],"SLAM.":[51],"Our":[52,74],"method,":[53],"MM3DGS,":[54],"addresses":[55],"limitations":[57],"prior":[59],"neural":[60],"radiance":[61],"field-based":[62],"by":[64],"enabling":[65],"faster":[66],"rendering,":[67],"scale":[68],"awareness,":[69],"improved":[71],"trajectory":[72],"tracking.":[73],"framework":[75],"enables":[76],"keyframe-based":[77],"utilizing":[81],"loss":[82],"functions":[83],"incorporate":[85],"relative":[86],"pose":[87],"transformations":[88],"from":[89,109,127],"pre-integrated":[90],"measurements,":[92],"depth":[93],"estimates,":[94],"measures":[96],"photometric":[98,143],"quality.":[100],"also":[102],"release":[103],"a":[104,110,115,158],"multi-modal":[105],"dataset,":[106],"UT-MM,":[107],"collected":[108],"mobile":[111],"robot":[112],"equipped":[113],"an":[118],"measurement":[120],"unit.":[121],"Experimental":[122],"evaluation":[123],"on":[124],"several":[125],"dataset":[129],"shows":[130],"MM3DGS":[132],"achieves":[133],"nearly":[134],"3x":[135],"improvement":[136,141],"in":[137,142],"5%":[140],"quality":[145],"compared":[146],"to":[147],"current":[149],"3DGS":[150],"SLAM":[151],"state-of-the-art,":[152],"while":[153],"allowing":[154],"high-resolution":[159],"dense":[160],"map.":[162]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":20}],"updated_date":"2026-05-07T13:39:58.223016","created_date":"2025-10-10T00:00:00"}