{"id":"https://openalex.org/W4416750818","doi":"https://doi.org/10.1109/iros60139.2025.11247059","title":"MPDG-SLAM: Motion Probability-Based 3DGS-SLAM in Dynamic Environment","display_name":"MPDG-SLAM: Motion Probability-Based 3DGS-SLAM in Dynamic Environment","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416750818","doi":"https://doi.org/10.1109/iros60139.2025.11247059"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11247059","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247059","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":"conference-paper","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/A5037490499","display_name":"Chan Huang","orcid":"https://orcid.org/0009-0005-5263-9660"},"institutions":[{"id":"https://openalex.org/I16365422","display_name":"Hefei University of Technology","ror":"https://ror.org/02czkny70","country_code":"CN","type":"education","lineage":["https://openalex.org/I16365422"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Conghao Huang","raw_affiliation_strings":["Hefei University of Technology,The School of Mathematics,Hefei,China,230601"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hefei University of Technology,The School of Mathematics,Hefei,China,230601","institution_ids":["https://openalex.org/I16365422"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011780655","display_name":"Li Zhang","orcid":"https://orcid.org/0000-0003-1610-6056"},"institutions":[{"id":"https://openalex.org/I16365422","display_name":"Hefei University of Technology","ror":"https://ror.org/02czkny70","country_code":"CN","type":"education","lineage":["https://openalex.org/I16365422"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Li Zhang","raw_affiliation_strings":["Hefei University of Technology,The School of Mathematics,Hefei,China,230601"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hefei University of Technology,The School of Mathematics,Hefei,China,230601","institution_ids":["https://openalex.org/I16365422"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078717226","display_name":"Tianchen Deng","orcid":"https://orcid.org/0000-0002-4368-7936"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tianchen Deng","raw_affiliation_strings":["Shanghai Jiao Tong University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059898989","display_name":"Kangxu Wang","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":"Kangxu Wang","raw_affiliation_strings":["Tsinghua University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100684497","display_name":"Mingrui Li","orcid":"https://orcid.org/0000-0001-8645-8749"},"institutions":[{"id":"https://openalex.org/I27357992","display_name":"Dalian University of Technology","ror":"https://ror.org/023hj5876","country_code":"CN","type":"education","lineage":["https://openalex.org/I27357992"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mingrui Li","raw_affiliation_strings":["Dalian University of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dalian University of Technology","institution_ids":["https://openalex.org/I27357992"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"14045","last_page":"14052"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.7682999968528748,"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":0.7682999968528748,"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/T10719","display_name":"3D Shape Modeling and Analysis","score":0.10869999974966049,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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":0.023600000888109207,"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/optical-flow","display_name":"Optical flow","score":0.7470999956130981},{"id":"https://openalex.org/keywords/rendering","display_name":"Rendering (computer graphics)","score":0.6151000261306763},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.546999990940094},{"id":"https://openalex.org/keywords/pixel","display_name":"Pixel","score":0.4343999922275543},{"id":"https://openalex.org/keywords/motion-estimation","display_name":"Motion estimation","score":0.4341000020503998},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.39809998869895935},{"id":"https://openalex.org/keywords/artifact","display_name":"Artifact (error)","score":0.3970000147819519},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.38040000200271606},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.3596000075340271}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7682999968528748},{"id":"https://openalex.org/C155542232","wikidata":"https://www.wikidata.org/wiki/Q736111","display_name":"Optical flow","level":3,"score":0.7470999956130981},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7249000072479248},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6660000085830688},{"id":"https://openalex.org/C205711294","wikidata":"https://www.wikidata.org/wiki/Q176953","display_name":"Rendering (computer graphics)","level":2,"score":0.6151000261306763},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.546999990940094},{"id":"https://openalex.org/C160633673","wikidata":"https://www.wikidata.org/wiki/Q355198","display_name":"Pixel","level":2,"score":0.4343999922275543},{"id":"https://openalex.org/C10161872","wikidata":"https://www.wikidata.org/wiki/Q557891","display_name":"Motion estimation","level":2,"score":0.4341000020503998},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.39809998869895935},{"id":"https://openalex.org/C2779010991","wikidata":"https://www.wikidata.org/wiki/Q2720909","display_name":"Artifact (error)","level":2,"score":0.3970000147819519},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.38040000200271606},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.3596000075340271},{"id":"https://openalex.org/C124504099","wikidata":"https://www.wikidata.org/wiki/Q56933","display_name":"Image segmentation","level":3,"score":0.35280001163482666},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.3504999876022339},{"id":"https://openalex.org/C154586513","wikidata":"https://www.wikidata.org/wiki/Q4420972","display_name":"Tracking system","level":3,"score":0.33880001306533813},{"id":"https://openalex.org/C2780056265","wikidata":"https://www.wikidata.org/wiki/Q106239881","display_name":"High dynamic range","level":3,"score":0.3237999975681305},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.32019999623298645},{"id":"https://openalex.org/C61224824","wikidata":"https://www.wikidata.org/wiki/Q2260434","display_name":"Mixture model","level":2,"score":0.31450000405311584},{"id":"https://openalex.org/C162307627","wikidata":"https://www.wikidata.org/wiki/Q204833","display_name":"Enhanced Data Rates for GSM Evolution","level":2,"score":0.30970001220703125},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.3000999987125397},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.2897000014781952},{"id":"https://openalex.org/C48007421","wikidata":"https://www.wikidata.org/wiki/Q676252","display_name":"Motion capture","level":3,"score":0.2786000072956085},{"id":"https://openalex.org/C177769412","wikidata":"https://www.wikidata.org/wiki/Q278090","display_name":"Prior probability","level":3,"score":0.25690001249313354},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.2540000081062317},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.2524000108242035}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11247059","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247059","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/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W2021851106","https://openalex.org/W3003179103","https://openalex.org/W3043971245","https://openalex.org/W3090298435","https://openalex.org/W4200150166","https://openalex.org/W4214768561","https://openalex.org/W4312290933","https://openalex.org/W4312878643","https://openalex.org/W4367663104","https://openalex.org/W4386066489","https://openalex.org/W4386066696","https://openalex.org/W4386076325","https://openalex.org/W4386432320","https://openalex.org/W4388676627","https://openalex.org/W4390421916","https://openalex.org/W4399995607","https://openalex.org/W4400645603","https://openalex.org/W4402698355","https://openalex.org/W4402698358","https://openalex.org/W4402716032","https://openalex.org/W4402716305","https://openalex.org/W4402716405","https://openalex.org/W4402727865","https://openalex.org/W4402980676","https://openalex.org/W4403770187","https://openalex.org/W4404370915","https://openalex.org/W4407948647","https://openalex.org/W4414856510"],"related_works":[],"abstract_inverted_index":{"We":[0],"present":[1],"MPDG-SLAM,":[2],"a":[3,94,98],"novel":[4],"3D":[5],"Gaussian":[6,107],"point":[7],"cloud":[8],"rendering":[9],"SLAM":[10],"method":[11],"based":[12,152],"on":[13,29,53,63,153,188,198],"Motion":[14,101],"Probability":[15,102],"(MP)":[16,103],"for":[17,24,51,71,122,195],"dynamic":[18,25,123,132,177],"interference":[19],"handling.":[20],"Current":[21],"3DGSSLAM":[22],"approaches":[23],"environments":[26],"often":[27],"rely":[28],"optical":[30,38,79],"flow":[31,39,80],"estimation":[32,81],"masks.":[33,164],"However,":[34],"these":[35,90],"deep":[36],"learning-based":[37],"models":[40],"are":[41,110,138],"computationally":[42],"intensive":[43],"and":[44,67,97,182],"limited":[45],"by":[46,84],"processing":[47],"speed,":[48],"posing":[49],"challenges":[50],"deployment":[52],"mobile":[54,199],"devices":[55],"in":[56],"real-world":[57,85],"scenarios.":[58],"Moreover,":[59],"existing":[60],"systems":[61],"depend":[62],"precise":[64],"mask":[65],"segmentation":[66,163],"corresponding":[68,134],"loss":[69,151],"functions":[70],"artifact":[72,158],"removal,":[73],"yet":[74],"the":[75,115,173],"pixel":[76],"accuracy":[77],"of":[78,176],"is":[82],"constrained":[83],"lighting":[86],"conditions.":[87],"To":[88],"address":[89],"issues,":[91],"we":[92,146],"introduce":[93],"mobile-deployable":[95],"Yolo":[96],"mathematically":[99],"derived":[100],"attribute":[104],"to":[105,114,120,135,141],"label":[106],"points,":[108],"which":[109,191],"then":[111],"inversely":[112],"mapped":[113],"front-end":[116],"feature":[117],"tracking":[118],"system":[119],"correct":[121],"object":[124],"influences.":[125],"By":[126],"incorporating":[127],"an":[128,148],"MP-based":[129],"penalty":[130],"term,":[131],"Gaussians":[133],"moving":[136],"entities":[137],"explicitly":[139],"removed":[140],"minimize":[142],"their":[143],"effect.":[144],"Additionally,":[145],"design":[147],"edge":[149],"warp":[150],"MP":[154],"estimation,":[155],"enabling":[156],"accurate":[157],"removal":[159],"even":[160],"with":[161],"coarse":[162],"The":[165],"experiments":[166],"show":[167],"that":[168],"our":[169],"approach":[170],"notably":[171],"improves":[172],"reconstruction":[174],"quality":[175],"scenes,":[178],"surpassing":[179],"baseline":[180],"methods":[181],"reaching":[183],"speeds":[184],"over":[185],"30":[186],"FPS":[187],"high-end":[189],"GPUs,":[190],"suggests":[192],"its":[193],"potential":[194],"real-time":[196],"use":[197],"platforms":[200],"after":[201],"further":[202],"optimization.":[203]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-11-28T00:00:00"}