{"id":"https://openalex.org/W4416751032","doi":"https://doi.org/10.1109/iros60139.2025.11246874","title":"iGaussian: Real-Time Camera Pose Estimation via Feed-Forward 3D Gaussian Splatting Inversion","display_name":"iGaussian: Real-Time Camera Pose Estimation via Feed-Forward 3D Gaussian Splatting Inversion","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416751032","doi":"https://doi.org/10.1109/iros60139.2025.11246874"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11246874","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246874","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5101941841","display_name":"Hao Wang","orcid":"https://orcid.org/0000-0003-4139-8193"},"institutions":[{"id":"https://openalex.org/I139759216","display_name":"Beijing University of Posts and Telecommunications","ror":"https://ror.org/04w9fbh59","country_code":"CN","type":"education","lineage":["https://openalex.org/I139759216"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Hao Wang","raw_affiliation_strings":["Beijing University of Posts and Telecommunications,School of Intelligent Engineering and Automation,Beijing,China,100876"],"affiliations":[{"raw_affiliation_string":"Beijing University of Posts and Telecommunications,School of Intelligent Engineering and Automation,Beijing,China,100876","institution_ids":["https://openalex.org/I139759216"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077094563","display_name":"Linqing Zhao","orcid":"https://orcid.org/0000-0001-9635-0715"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Linqing Zhao","raw_affiliation_strings":["Tsinghua University,Department of Automation,Beijing,China,100084"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,Department of Automation,Beijing,China,100084","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100675886","display_name":"Xiuwei Xu","orcid":null},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiuwei Xu","raw_affiliation_strings":["Tsinghua University,Department of Automation,Beijing,China,100084"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,Department of Automation,Beijing,China,100084","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103740674","display_name":"Jiwen Lu","orcid":null},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiwen Lu","raw_affiliation_strings":["Tsinghua University,Department of Automation,Beijing,China,100084"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,Department of Automation,Beijing,China,100084","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5011536717","display_name":"Haibin Yan","orcid":"https://orcid.org/0000-0003-0811-6545"},"institutions":[{"id":"https://openalex.org/I139759216","display_name":"Beijing University of Posts and Telecommunications","ror":"https://ror.org/04w9fbh59","country_code":"CN","type":"education","lineage":["https://openalex.org/I139759216"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haibin Yan","raw_affiliation_strings":["Beijing University of Posts and Telecommunications,School of Intelligent Engineering and Automation,Beijing,China,100876"],"affiliations":[{"raw_affiliation_string":"Beijing University of Posts and Telecommunications,School of Intelligent Engineering and Automation,Beijing,China,100876","institution_ids":["https://openalex.org/I139759216"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5101941841"],"corresponding_institution_ids":["https://openalex.org/I139759216"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.44011143,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"13720","last_page":"13727"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.7190999984741211,"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":0.7190999984741211,"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":0.1574999988079071,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.03959999978542328,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/pose","display_name":"Pose","score":0.682200014591217},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.5475000143051147},{"id":"https://openalex.org/keywords/gaussian-process","display_name":"Gaussian process","score":0.49959999322891235},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.43130001425743103},{"id":"https://openalex.org/keywords/kriging","display_name":"Kriging","score":0.38359999656677246},{"id":"https://openalex.org/keywords/3d-pose-estimation","display_name":"3D pose estimation","score":0.3797000050544739},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.35830000042915344},{"id":"https://openalex.org/keywords/gaussian-network-model","display_name":"Gaussian network model","score":0.3578000068664551},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.3564999997615814},{"id":"https://openalex.org/keywords/gaussian-filter","display_name":"Gaussian filter","score":0.3368000090122223}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7935000061988831},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.754800021648407},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.729200005531311},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.682200014591217},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.5475000143051147},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.49959999322891235},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.43130001425743103},{"id":"https://openalex.org/C81692654","wikidata":"https://www.wikidata.org/wiki/Q225926","display_name":"Kriging","level":2,"score":0.38359999656677246},{"id":"https://openalex.org/C36613465","wikidata":"https://www.wikidata.org/wiki/Q4636322","display_name":"3D pose estimation","level":3,"score":0.3797000050544739},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.35830000042915344},{"id":"https://openalex.org/C166550679","wikidata":"https://www.wikidata.org/wiki/Q263400","display_name":"Gaussian network model","level":3,"score":0.3578000068664551},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.3564999997615814},{"id":"https://openalex.org/C65892221","wikidata":"https://www.wikidata.org/wiki/Q1113935","display_name":"Gaussian filter","level":3,"score":0.3368000090122223},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.3361000120639801},{"id":"https://openalex.org/C61265191","wikidata":"https://www.wikidata.org/wiki/Q767770","display_name":"Scale-invariant feature transform","level":3,"score":0.3264000117778778},{"id":"https://openalex.org/C2983787585","wikidata":"https://www.wikidata.org/wiki/Q93586","display_name":"Feature matching","level":3,"score":0.32109999656677246},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.31869998574256897},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.301800012588501},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.3005000054836273},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.298799991607666},{"id":"https://openalex.org/C12713177","wikidata":"https://www.wikidata.org/wiki/Q1900281","display_name":"Perspective (graphical)","level":2,"score":0.29820001125335693},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.28529998660087585},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.28200000524520874},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.27390000224113464},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.2727000117301941},{"id":"https://openalex.org/C61224824","wikidata":"https://www.wikidata.org/wiki/Q2260434","display_name":"Mixture model","level":2,"score":0.2678999900817871},{"id":"https://openalex.org/C202615002","wikidata":"https://www.wikidata.org/wiki/Q783507","display_name":"Differentiable function","level":2,"score":0.2655999958515167},{"id":"https://openalex.org/C68339613","wikidata":"https://www.wikidata.org/wiki/Q1549489","display_name":"Speedup","level":2,"score":0.2596000134944916},{"id":"https://openalex.org/C52740198","wikidata":"https://www.wikidata.org/wiki/Q1539564","display_name":"Importance sampling","level":3,"score":0.25690001249313354},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.25619998574256897},{"id":"https://openalex.org/C22100474","wikidata":"https://www.wikidata.org/wiki/Q4800952","display_name":"Articulated body pose estimation","level":4,"score":0.2502000033855438}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11246874","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246874","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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"},{"id":"https://openalex.org/F4320321543","display_name":"China Postdoctoral Science Foundation","ror":"https://ror.org/0426zh255"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1598123022","https://openalex.org/W2035575075","https://openalex.org/W2046434485","https://openalex.org/W2085261163","https://openalex.org/W2109635530","https://openalex.org/W2151103935","https://openalex.org/W2200124539","https://openalex.org/W2795645133","https://openalex.org/W2888752296","https://openalex.org/W2890097289","https://openalex.org/W2892865870","https://openalex.org/W2901982540","https://openalex.org/W2962783853","https://openalex.org/W3034275286","https://openalex.org/W3107210737","https://openalex.org/W3112108866","https://openalex.org/W3166285241","https://openalex.org/W3176368002","https://openalex.org/W3176602998","https://openalex.org/W3215769467","https://openalex.org/W4200150166","https://openalex.org/W4221154336","https://openalex.org/W4312878643","https://openalex.org/W4313030871","https://openalex.org/W4321512637","https://openalex.org/W4385245566","https://openalex.org/W4385318467","https://openalex.org/W4386066489","https://openalex.org/W4386634656","https://openalex.org/W4389665446","https://openalex.org/W4402727209","https://openalex.org/W4402727865"],"related_works":[],"abstract_inverted_index":{"Recent":[0],"trends":[1],"in":[2,78,138],"SLAM":[3],"and":[4,59,121,131,175],"visual":[5],"navigation":[6],"have":[7],"embraced":[8],"3D":[9,98,147],"Gaussians":[10],"as":[11],"the":[12,17,56,66,170],"preferred":[13],"scene":[14],"representation,":[15],"highlighting":[16],"importance":[18],"of":[19],"estimating":[20],"camera":[21,93],"poses":[22],"from":[23,162],"a":[24,28,86,105,110,155,179],"single":[25],"image":[26,144],"using":[27,48,109],"pre-built":[29],"Gaussian":[30,51,99,111,148],"model.":[31],"However,":[32],"existing":[33],"approaches":[34],"typically":[35],"rely":[36],"on":[37,169,197],"an":[38,202],"iterative":[39],"render-compare-refine":[40],"loop,":[41],"where":[42],"candidate":[43],"views":[44],"are":[45,62],"first":[46,103],"rendered":[47],"NeRF":[49,171],"or":[50],"Splatting,":[52],"then":[53,125],"compared":[54,206],"against":[55],"target":[57],"image,":[58],"finally,":[60],"discrepancies":[61],"used":[63],"to":[64,190,207],"update":[65],"pose.":[67],"This":[68],"multi-round":[69],"process":[70],"incurs":[71],"significant":[72,180],"computational":[73],"overhead,":[74],"hindering":[75],"real-time":[76,92],"performance":[77,181],"robotics.":[79],"In":[80],"this":[81],"paper,":[82],"we":[83],"propose":[84],"iGaussian,":[85],"two-stage":[87],"feed-forward":[88],"framework":[89],"that":[90,142,159],"achieves":[91],"pose":[94,108],"estimation":[95],"through":[96,128],"direct":[97],"inversion.":[100],"Our":[101],"method":[102],"regresses":[104],"coarse":[106],"6DoF":[107],"Scene":[112],"Prior-based":[113],"Pose":[114],"Regression":[115],"Network":[116],"with":[117,146,154],"spatial":[118],"uniform":[119],"sampling":[120],"guided":[122],"attention":[123],"mechanisms,":[124],"refines":[126],"it":[127],"feature":[129],"matching":[130],"multi-model":[132],"fusion.":[133],"The":[134],"key":[135],"contribution":[136],"lies":[137],"our":[139],"cross-correlation":[140],"module":[141],"aligns":[143],"embeddings":[145],"attributes":[149],"without":[150],"differentiable":[151],"rendering,":[152],"coupled":[153],"Weighted":[156],"Multiview":[157],"Predictor":[158],"fuses":[160],"features":[161],"Multiple":[163],"strategically":[164],"sampled":[165],"viewpoints.":[166],"Experimental":[167],"results":[168],"Synthetic,":[172],"Mip-NeRF":[173],"360,":[174],"T&T+DB":[176],"datasets":[177],"demonstrate":[178],"improvement":[182],"over":[183],"previous":[184],"methods,":[185],"reducing":[186],"median":[187],"rotation":[188],"errors":[189],"0.2\u00b0":[191],"while":[192],"achieving":[193],"2.87":[194],"FPS":[195],"tracking":[196],"mobile":[198],"robots,":[199],"which":[200],"is":[201],"impressive":[203],"10\u00d7":[204],"speedup":[205],"optimization-based":[208],"approaches.":[209],"Project":[210],"page:":[211],"https://github.com/pythongod-exe/iGaussian":[212]},"counts_by_year":[],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-11-28T00:00:00"}
