{"id":"https://openalex.org/W4416750446","doi":"https://doi.org/10.1109/iros60139.2025.11247045","title":"GPGS: Geometric Priors for 3D Gaussian Splatting in Structural Environments","display_name":"GPGS: Geometric Priors for 3D Gaussian Splatting in Structural Environments","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416750446","doi":"https://doi.org/10.1109/iros60139.2025.11247045"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11247045","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247045","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/A5101854466","display_name":"Ziwei Xu","orcid":"https://orcid.org/0000-0003-0600-2579"},"institutions":[{"id":"https://openalex.org/I4210144487","display_name":"Cloud Computing Center","ror":"https://ror.org/04aa0zm65","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210144487"]},{"id":"https://openalex.org/I2250955327","display_name":"Huawei Technologies (China)","ror":"https://ror.org/00cmhce21","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250955327"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Ziwei Xu","raw_affiliation_strings":["Huawei Cloud Computing Technologies Co.,Ltd.,Physical Intelligence Lab,Shenzhen,China"],"affiliations":[{"raw_affiliation_string":"Huawei Cloud Computing Technologies Co.,Ltd.,Physical Intelligence Lab,Shenzhen,China","institution_ids":["https://openalex.org/I2250955327","https://openalex.org/I4210144487"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100344185","display_name":"Wen Chen","orcid":"https://orcid.org/0000-0003-0566-2495"},"institutions":[{"id":"https://openalex.org/I2250955327","display_name":"Huawei Technologies (China)","ror":"https://ror.org/00cmhce21","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250955327"]},{"id":"https://openalex.org/I4210144487","display_name":"Cloud Computing Center","ror":"https://ror.org/04aa0zm65","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210144487"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wen Chen","raw_affiliation_strings":["Huawei Cloud Computing Technologies Co.,Ltd.,Physical Intelligence Lab,Shenzhen,China"],"affiliations":[{"raw_affiliation_string":"Huawei Cloud Computing Technologies Co.,Ltd.,Physical Intelligence Lab,Shenzhen,China","institution_ids":["https://openalex.org/I2250955327","https://openalex.org/I4210144487"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029538624","display_name":"Shilong Wang","orcid":"https://orcid.org/0009-0001-0734-6085"},"institutions":[{"id":"https://openalex.org/I4210144487","display_name":"Cloud Computing Center","ror":"https://ror.org/04aa0zm65","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210144487"]},{"id":"https://openalex.org/I2250955327","display_name":"Huawei Technologies (China)","ror":"https://ror.org/00cmhce21","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250955327"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shilong Wang","raw_affiliation_strings":["Huawei Cloud Computing Technologies Co.,Ltd.,Physical Intelligence Lab,Shenzhen,China"],"affiliations":[{"raw_affiliation_string":"Huawei Cloud Computing Technologies Co.,Ltd.,Physical Intelligence Lab,Shenzhen,China","institution_ids":["https://openalex.org/I2250955327","https://openalex.org/I4210144487"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109792304","display_name":"Zongguang Ouyang","orcid":null},"institutions":[{"id":"https://openalex.org/I4210144487","display_name":"Cloud Computing Center","ror":"https://ror.org/04aa0zm65","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210144487"]},{"id":"https://openalex.org/I2250955327","display_name":"Huawei Technologies (China)","ror":"https://ror.org/00cmhce21","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250955327"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zile Ouyang","raw_affiliation_strings":["Huawei Cloud Computing Technologies Co.,Ltd.,Physical Intelligence Lab,Shenzhen,China"],"affiliations":[{"raw_affiliation_string":"Huawei Cloud Computing Technologies Co.,Ltd.,Physical Intelligence Lab,Shenzhen,China","institution_ids":["https://openalex.org/I2250955327","https://openalex.org/I4210144487"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112125920","display_name":"Shaohuang Bian","orcid":"https://orcid.org/0009-0009-6005-4098"},"institutions":[{"id":"https://openalex.org/I4210144487","display_name":"Cloud Computing Center","ror":"https://ror.org/04aa0zm65","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210144487"]},{"id":"https://openalex.org/I2250955327","display_name":"Huawei Technologies (China)","ror":"https://ror.org/00cmhce21","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250955327"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shengwei Bian","raw_affiliation_strings":["Huawei Cloud Computing Technologies Co.,Ltd.,Physical Intelligence Lab,Shenzhen,China"],"affiliations":[{"raw_affiliation_string":"Huawei Cloud Computing Technologies Co.,Ltd.,Physical Intelligence Lab,Shenzhen,China","institution_ids":["https://openalex.org/I2250955327","https://openalex.org/I4210144487"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042268476","display_name":"Shunbo Zhou","orcid":"https://orcid.org/0000-0002-6077-4951"},"institutions":[{"id":"https://openalex.org/I2250955327","display_name":"Huawei Technologies (China)","ror":"https://ror.org/00cmhce21","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250955327"]},{"id":"https://openalex.org/I4210144487","display_name":"Cloud Computing Center","ror":"https://ror.org/04aa0zm65","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210144487"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shunbo Zhou","raw_affiliation_strings":["Huawei Cloud Computing Technologies Co.,Ltd.,Physical Intelligence Lab,Shenzhen,China"],"affiliations":[{"raw_affiliation_string":"Huawei Cloud Computing Technologies Co.,Ltd.,Physical Intelligence Lab,Shenzhen,China","institution_ids":["https://openalex.org/I2250955327","https://openalex.org/I4210144487"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5101854466"],"corresponding_institution_ids":["https://openalex.org/I2250955327","https://openalex.org/I4210144487"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.4029602,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"15695","last_page":"15702"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.31540000438690186,"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"}},"topics":[{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.31540000438690186,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.2892000079154968,"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/T12153","display_name":"Advanced Optical Sensing Technologies","score":0.051100000739097595,"subfield":{"id":"https://openalex.org/subfields/3105","display_name":"Instrumentation"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/prior-probability","display_name":"Prior probability","score":0.6502000093460083},{"id":"https://openalex.org/keywords/consistency","display_name":"Consistency (knowledge bases)","score":0.6262999773025513},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.5070000290870667},{"id":"https://openalex.org/keywords/gaussian-process","display_name":"Gaussian process","score":0.5019999742507935},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.4902999997138977},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.420199990272522},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4016000032424927},{"id":"https://openalex.org/keywords/voxel","display_name":"Voxel","score":0.3953000009059906},{"id":"https://openalex.org/keywords/mixture-model","display_name":"Mixture model","score":0.3718000054359436},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.3456000089645386}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7214999794960022},{"id":"https://openalex.org/C177769412","wikidata":"https://www.wikidata.org/wiki/Q278090","display_name":"Prior probability","level":3,"score":0.6502000093460083},{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.6262999773025513},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6169999837875366},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.532800018787384},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.5070000290870667},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.5019999742507935},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.4902999997138977},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.420199990272522},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4016000032424927},{"id":"https://openalex.org/C54170458","wikidata":"https://www.wikidata.org/wiki/Q663554","display_name":"Voxel","level":2,"score":0.3953000009059906},{"id":"https://openalex.org/C61224824","wikidata":"https://www.wikidata.org/wiki/Q2260434","display_name":"Mixture model","level":2,"score":0.3718000054359436},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3637000024318695},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.3456000089645386},{"id":"https://openalex.org/C61797465","wikidata":"https://www.wikidata.org/wiki/Q1188986","display_name":"Term (time)","level":2,"score":0.33320000767707825},{"id":"https://openalex.org/C181095308","wikidata":"https://www.wikidata.org/wiki/Q1541599","display_name":"Geometric primitive","level":2,"score":0.3147999942302704},{"id":"https://openalex.org/C104065381","wikidata":"https://www.wikidata.org/wiki/Q1002535","display_name":"Geometric modeling","level":2,"score":0.3125999867916107},{"id":"https://openalex.org/C7305733","wikidata":"https://www.wikidata.org/wiki/Q207961","display_name":"Geometric shape","level":2,"score":0.3084000051021576},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.3068000078201294},{"id":"https://openalex.org/C136520226","wikidata":"https://www.wikidata.org/wiki/Q302814","display_name":"Geometric data analysis","level":2,"score":0.2992999851703644},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.28130000829696655},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.2759000062942505},{"id":"https://openalex.org/C115051666","wikidata":"https://www.wikidata.org/wiki/Q6522493","display_name":"Ranging","level":2,"score":0.27559998631477356},{"id":"https://openalex.org/C29123130","wikidata":"https://www.wikidata.org/wiki/Q874709","display_name":"Computational geometry","level":2,"score":0.27079999446868896},{"id":"https://openalex.org/C23903533","wikidata":"https://www.wikidata.org/wiki/Q17122739","display_name":"Reprojection error","level":3,"score":0.2700999975204468},{"id":"https://openalex.org/C203527163","wikidata":"https://www.wikidata.org/wiki/Q262959","display_name":"Cuboid","level":2,"score":0.2694000005722046},{"id":"https://openalex.org/C12713177","wikidata":"https://www.wikidata.org/wiki/Q1900281","display_name":"Perspective (graphical)","level":2,"score":0.26820001006126404},{"id":"https://openalex.org/C118317068","wikidata":"https://www.wikidata.org/wiki/Q2100760","display_name":"Point distribution model","level":2,"score":0.26409998536109924},{"id":"https://openalex.org/C2776459999","wikidata":"https://www.wikidata.org/wiki/Q2119376","display_name":"Fidelity","level":2,"score":0.262800008058548},{"id":"https://openalex.org/C109950114","wikidata":"https://www.wikidata.org/wiki/Q4464732","display_name":"3D reconstruction","level":2,"score":0.25949999690055847},{"id":"https://openalex.org/C108882727","wikidata":"https://www.wikidata.org/wiki/Q2991685","display_name":"Solid modeling","level":2,"score":0.25920000672340393},{"id":"https://openalex.org/C197055811","wikidata":"https://www.wikidata.org/wiki/Q207522","display_name":"Probability density function","level":2,"score":0.25}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11247045","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247045","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":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W2085905957","https://openalex.org/W3133767727","https://openalex.org/W3215769467","https://openalex.org/W4200150166","https://openalex.org/W4249866455","https://openalex.org/W4324290202","https://openalex.org/W4385318467","https://openalex.org/W4393248012","https://openalex.org/W4396853098","https://openalex.org/W4400581059","https://openalex.org/W4400819728","https://openalex.org/W4401417061","https://openalex.org/W4402354003","https://openalex.org/W4402698355","https://openalex.org/W4402698358","https://openalex.org/W4402727715","https://openalex.org/W4402727865","https://openalex.org/W4404132771","https://openalex.org/W4404520519","https://openalex.org/W4404524486","https://openalex.org/W4404525393","https://openalex.org/W4405811732","https://openalex.org/W4408441471","https://openalex.org/W4413917056","https://openalex.org/W4414374886"],"related_works":[],"abstract_inverted_index":{"Recently,":[0],"3D":[1,53,83],"Gaussian":[2],"Splatting":[3],"(3DGS)":[4],"has":[5],"garnered":[6],"significant":[7],"attention":[8],"for":[9],"its":[10],"remarkable":[11],"capacity":[12],"to":[13,48,125,143,162,176],"efficiently":[14],"synthesize":[15],"novel":[16,76,122],"views":[17],"with":[18,63,146],"high":[19],"fidelity.":[20],"Nevertheless,":[21],"3DGS":[22],"encounters":[23],"challenges":[24],"in":[25,59,82,129,165,201],"accurately":[26],"representing":[27],"the":[28,50,97,113,147,151,178],"geometry":[29,51],"of":[30,52,155],"real-world":[31,190],"scenes.":[32],"To":[33],"address":[34],"this":[35],"issue,":[36],"previous":[37],"methods":[38,57,200],"commonly":[39],"utilize":[40],"a":[41,75,101,121],"depth-normal":[42,160],"consistency":[43,161],"term":[44],"on":[45,189],"2D":[46],"images":[47],"regulate":[49,127],"Gaussians.":[54],"However,":[55],"these":[56],"degrade":[58],"performance":[60],"when":[61],"dealing":[62],"low-texture":[64],"surfaces":[65],"or":[66,116],"limited":[67],"training":[68],"views.":[69],"In":[70],"contrast,":[71],"we":[72,95,137,158],"present":[73],"GPGS,":[74],"approach":[77,196],"that":[78,193],"directly":[79],"regulates":[80],"Gaussians":[81,128,145,164],"space":[84],"using":[85],"Geometric":[86],"Priors":[87],"(GP).":[88],"Given":[89],"posed":[90],"LiDAR":[91],"scans":[92],"and":[93,110,131,140,205],"images,":[94],"organize":[96],"point":[98],"clouds":[99],"into":[100],"hierarchical":[102],"voxel":[103,106],"map.":[104],"Each":[105],"contains":[107],"occupancy":[108],"information":[109],"explicitly":[111],"reveals":[112],"internal":[114],"planar":[115,130,135],"non-planar":[117,132,166],"structure.":[118],"We":[119],"propose":[120],"divide-and-conquer":[123],"strategy":[124,173],"separately":[126],"voxels.":[133,167],"For":[134],"voxels,":[136,183],"design":[138],"positional":[139],"rotational":[141],"constraints":[142],"align":[144],"estimated":[148],"plane.":[149],"Considering":[150],"noisy":[152],"ranging":[153],"measurements":[154],"complex":[156],"structures,":[157],"use":[159],"regularize":[163],"Additionally,":[168],"an":[169],"occupancy-aware":[170],"density":[171],"control":[172],"is":[174],"introduced":[175],"confine":[177],"densification":[179],"process":[180],"within":[181],"occupied":[182],"thus":[184],"reducing":[185],"artifacts.":[186],"Extensive":[187],"experiments":[188],"datasets":[191],"show":[192],"our":[194],"proposed":[195],"outperforms":[197],"existing":[198],"state-of-the-art":[199],"both":[202],"geometric":[203],"accuracy":[204],"visual":[206],"quality.":[207]},"counts_by_year":[],"updated_date":"2026-03-07T16:01:11.037858","created_date":"2025-11-28T00:00:00"}
