{"id":"https://openalex.org/W4416749189","doi":"https://doi.org/10.1109/iros60139.2025.11247155","title":"Multi-View Normal and Distance Guidance Gaussian Splatting for Surface Reconstruction","display_name":"Multi-View Normal and Distance Guidance Gaussian Splatting for Surface Reconstruction","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416749189","doi":"https://doi.org/10.1109/iros60139.2025.11247155"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11247155","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247155","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/A5103829226","display_name":"Bo Jia","orcid":"https://orcid.org/0009-0009-0982-4317"},"institutions":[{"id":"https://openalex.org/I78675632","display_name":"Beijing Information Science & Technology University","ror":"https://ror.org/04xnqep60","country_code":"CN","type":"education","lineage":["https://openalex.org/I78675632"]},{"id":"https://openalex.org/I890469752","display_name":"Ministry of Industry and Information Technology","ror":"https://ror.org/0385nmy68","country_code":"CN","type":"government","lineage":["https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Bo Jia","raw_affiliation_strings":["Beijing Information Science and Technology University,The Key Laboratory of Information and Communication Systems, Ministry of Information Industry,Beijing,China,100192"],"affiliations":[{"raw_affiliation_string":"Beijing Information Science and Technology University,The Key Laboratory of Information and Communication Systems, Ministry of Information Industry,Beijing,China,100192","institution_ids":["https://openalex.org/I78675632","https://openalex.org/I890469752"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101495432","display_name":"Yanan Guo","orcid":"https://orcid.org/0000-0001-7371-1637"},"institutions":[{"id":"https://openalex.org/I78675632","display_name":"Beijing Information Science & Technology University","ror":"https://ror.org/04xnqep60","country_code":"CN","type":"education","lineage":["https://openalex.org/I78675632"]},{"id":"https://openalex.org/I890469752","display_name":"Ministry of Industry and Information Technology","ror":"https://ror.org/0385nmy68","country_code":"CN","type":"government","lineage":["https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanan Guo","raw_affiliation_strings":["Beijing Information Science and Technology University,The Key Laboratory of Information and Communication Systems, Ministry of Information Industry,Beijing,China,100192"],"affiliations":[{"raw_affiliation_string":"Beijing Information Science and Technology University,The Key Laboratory of Information and Communication Systems, Ministry of Information Industry,Beijing,China,100192","institution_ids":["https://openalex.org/I78675632","https://openalex.org/I890469752"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111744003","display_name":"Ying Chang","orcid":null},"institutions":[{"id":"https://openalex.org/I1320354487","display_name":"Target (United States)","ror":"https://ror.org/05mkyac79","country_code":"US","type":"company","lineage":["https://openalex.org/I1320354487"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ying Chang","raw_affiliation_strings":["Aerospace Information Research Institute, CAS,The Key Laboratory of Target Cognition and Application Technology,Beijing,China,100094"],"affiliations":[{"raw_affiliation_string":"Aerospace Information Research Institute, CAS,The Key Laboratory of Target Cognition and Application Technology,Beijing,China,100094","institution_ids":["https://openalex.org/I1320354487"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101277121","display_name":"Benkui Zhang","orcid":"https://orcid.org/0009-0007-0729-4995"},"institutions":[{"id":"https://openalex.org/I1320354487","display_name":"Target (United States)","ror":"https://ror.org/05mkyac79","country_code":"US","type":"company","lineage":["https://openalex.org/I1320354487"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Benkui Zhang","raw_affiliation_strings":["Aerospace Information Research Institute, CAS,The Key Laboratory of Target Cognition and Application Technology,Beijing,China,100094"],"affiliations":[{"raw_affiliation_string":"Aerospace Information Research Institute, CAS,The Key Laboratory of Target Cognition and Application Technology,Beijing,China,100094","institution_ids":["https://openalex.org/I1320354487"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5118820769","display_name":"Ying Xie","orcid":"https://orcid.org/0009-0004-4757-7234"},"institutions":[{"id":"https://openalex.org/I78675632","display_name":"Beijing Information Science & Technology University","ror":"https://ror.org/04xnqep60","country_code":"CN","type":"education","lineage":["https://openalex.org/I78675632"]},{"id":"https://openalex.org/I890469752","display_name":"Ministry of Industry and Information Technology","ror":"https://ror.org/0385nmy68","country_code":"CN","type":"government","lineage":["https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ying Xie","raw_affiliation_strings":["Beijing Information Science and Technology University,The Key Laboratory of Information and Communication Systems, Ministry of Information Industry,Beijing,China,100192"],"affiliations":[{"raw_affiliation_string":"Beijing Information Science and Technology University,The Key Laboratory of Information and Communication Systems, Ministry of Information Industry,Beijing,China,100192","institution_ids":["https://openalex.org/I78675632","https://openalex.org/I890469752"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101477348","display_name":"Kangning Du","orcid":"https://orcid.org/0000-0002-2998-757X"},"institutions":[{"id":"https://openalex.org/I78675632","display_name":"Beijing Information Science & Technology University","ror":"https://ror.org/04xnqep60","country_code":"CN","type":"education","lineage":["https://openalex.org/I78675632"]},{"id":"https://openalex.org/I890469752","display_name":"Ministry of Industry and Information Technology","ror":"https://ror.org/0385nmy68","country_code":"CN","type":"government","lineage":["https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kangning Du","raw_affiliation_strings":["Beijing Information Science and Technology University,The Key Laboratory of Information and Communication Systems, Ministry of Information Industry,Beijing,China,100192"],"affiliations":[{"raw_affiliation_string":"Beijing Information Science and Technology University,The Key Laboratory of Information and Communication Systems, Ministry of Information Industry,Beijing,China,100192","institution_ids":["https://openalex.org/I78675632","https://openalex.org/I890469752"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101967199","display_name":"Lin Cao","orcid":"https://orcid.org/0000-0001-8166-3006"},"institutions":[{"id":"https://openalex.org/I78675632","display_name":"Beijing Information Science & Technology University","ror":"https://ror.org/04xnqep60","country_code":"CN","type":"education","lineage":["https://openalex.org/I78675632"]},{"id":"https://openalex.org/I890469752","display_name":"Ministry of Industry and Information Technology","ror":"https://ror.org/0385nmy68","country_code":"CN","type":"government","lineage":["https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lin Cao","raw_affiliation_strings":["Beijing Information Science and Technology University,The Key Laboratory of Information and Communication Systems, Ministry of Information Industry,Beijing,China,100192"],"affiliations":[{"raw_affiliation_string":"Beijing Information Science and Technology University,The Key Laboratory of Information and Communication Systems, Ministry of Information Industry,Beijing,China,100192","institution_ids":["https://openalex.org/I78675632","https://openalex.org/I890469752"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5103829226"],"corresponding_institution_ids":["https://openalex.org/I78675632","https://openalex.org/I890469752"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.36966921,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"20700","last_page":"20707"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.4991999864578247,"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":0.4991999864578247,"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":0.11649999767541885,"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":0.09880000352859497,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/reprojection-error","display_name":"Reprojection error","score":0.6909000277519226},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.6389999985694885},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.5163999795913696},{"id":"https://openalex.org/keywords/surface","display_name":"Surface (topology)","score":0.4797999858856201},{"id":"https://openalex.org/keywords/pixel","display_name":"Pixel","score":0.47119998931884766},{"id":"https://openalex.org/keywords/surface-reconstruction","display_name":"Surface reconstruction","score":0.4453999996185303},{"id":"https://openalex.org/keywords/regularization","display_name":"Regularization (linguistics)","score":0.43160000443458557},{"id":"https://openalex.org/keywords/projection","display_name":"Projection (relational algebra)","score":0.41929998993873596},{"id":"https://openalex.org/keywords/normal","display_name":"Normal","score":0.398499995470047}],"concepts":[{"id":"https://openalex.org/C23903533","wikidata":"https://www.wikidata.org/wiki/Q17122739","display_name":"Reprojection error","level":3,"score":0.6909000277519226},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.6389999985694885},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6026999950408936},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6010000109672546},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5866000056266785},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.5163999795913696},{"id":"https://openalex.org/C2776799497","wikidata":"https://www.wikidata.org/wiki/Q484298","display_name":"Surface (topology)","level":2,"score":0.4797999858856201},{"id":"https://openalex.org/C160633673","wikidata":"https://www.wikidata.org/wiki/Q355198","display_name":"Pixel","level":2,"score":0.47119998931884766},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.44670000672340393},{"id":"https://openalex.org/C20885615","wikidata":"https://www.wikidata.org/wiki/Q825595","display_name":"Surface reconstruction","level":3,"score":0.4453999996185303},{"id":"https://openalex.org/C2776135515","wikidata":"https://www.wikidata.org/wiki/Q17143721","display_name":"Regularization (linguistics)","level":2,"score":0.43160000443458557},{"id":"https://openalex.org/C57493831","wikidata":"https://www.wikidata.org/wiki/Q3134666","display_name":"Projection (relational algebra)","level":2,"score":0.41929998993873596},{"id":"https://openalex.org/C118732077","wikidata":"https://www.wikidata.org/wiki/Q273176","display_name":"Normal","level":3,"score":0.398499995470047},{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.3621000051498413},{"id":"https://openalex.org/C68806387","wikidata":"https://www.wikidata.org/wiki/Q2724617","display_name":"Gaussian surface","level":3,"score":0.3596000075340271},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.35280001163482666},{"id":"https://openalex.org/C166550679","wikidata":"https://www.wikidata.org/wiki/Q263400","display_name":"Gaussian network model","level":3,"score":0.35109999775886536},{"id":"https://openalex.org/C141379421","wikidata":"https://www.wikidata.org/wiki/Q6094427","display_name":"Iterative reconstruction","level":2,"score":0.3407999873161316},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3386000096797943},{"id":"https://openalex.org/C109950114","wikidata":"https://www.wikidata.org/wiki/Q4464732","display_name":"3D reconstruction","level":2,"score":0.32910001277923584},{"id":"https://openalex.org/C65892221","wikidata":"https://www.wikidata.org/wiki/Q1113935","display_name":"Gaussian filter","level":3,"score":0.3001999855041504},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.2773999869823456},{"id":"https://openalex.org/C9357733","wikidata":"https://www.wikidata.org/wiki/Q6878417","display_name":"Missing data","level":2,"score":0.2720000147819519},{"id":"https://openalex.org/C96146094","wikidata":"https://www.wikidata.org/wiki/Q609057","display_name":"Unification","level":2,"score":0.2540999948978424},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.2538999915122986},{"id":"https://openalex.org/C61224824","wikidata":"https://www.wikidata.org/wiki/Q2260434","display_name":"Mixture model","level":2,"score":0.25380000472068787},{"id":"https://openalex.org/C73621898","wikidata":"https://www.wikidata.org/wiki/Q2940504","display_name":"Distance transform","level":3,"score":0.2515000104904175},{"id":"https://openalex.org/C150627866","wikidata":"https://www.wikidata.org/wiki/Q1076893","display_name":"Field of view","level":2,"score":0.2513999938964844}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11247155","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247155","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/F4320321793","display_name":"Beijing Municipal Education Commission","ror":"https://ror.org/04bpn6s66"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W2085905957","https://openalex.org/W2133665775","https://openalex.org/W2901982540","https://openalex.org/W2962785568","https://openalex.org/W3035168834","https://openalex.org/W3202037070","https://openalex.org/W3203570626","https://openalex.org/W4200150166","https://openalex.org/W4221151978","https://openalex.org/W4295430325","https://openalex.org/W4311883446","https://openalex.org/W4385318467","https://openalex.org/W4386066812","https://openalex.org/W4393248012","https://openalex.org/W4399534718","https://openalex.org/W4402704609","https://openalex.org/W4403780586","https://openalex.org/W4404007418","https://openalex.org/W4404132771","https://openalex.org/W4404524486","https://openalex.org/W4408050376","https://openalex.org/W4408355590","https://openalex.org/W4410771269","https://openalex.org/W4413145075"],"related_works":[],"abstract_inverted_index":{"3D":[0,77],"Gaussian":[1,15,59,100,114],"Splatting":[2],"(3DGS)":[3],"achieves":[4,63,98],"remarkable":[5],"results":[6,145],"in":[7,30,50,136,153],"the":[8,21,26,31,44,81,104,112,131,141,151,161],"field":[9],"of":[10,83,133,165],"surface":[11,162],"reconstruction.":[12],"However,":[13],"when":[14],"normal":[16,56,121],"vectors":[17],"are":[18],"aligned":[19],"within":[20],"single-view":[22],"projection":[23],"plane,":[24],"while":[25],"geometry":[27],"appears":[28],"reasonable":[29],"current":[32],"view,":[33],"biases":[34],"may":[35],"emerge":[36],"upon":[37],"switching":[38],"to":[39],"nearby":[40,72,109,137],"views.":[41],"To":[42],"address":[43],"distance":[45,93,105],"and":[46,57,67,75,86,111,139,156],"global":[47],"matching":[48,130],"challenges":[49],"multi-view":[51,55,92,99],"scenes,":[52,88],"we":[53,89,117],"design":[54],"distance-guided":[58],"splatting.":[60],"This":[61],"method":[62,149],"geometric":[64],"depth":[65,73],"unification":[66],"high-accuracy":[68],"reconstruction":[69,82,163],"by":[70,102,129],"constraining":[71],"maps":[74],"aligning":[76],"normals.":[78],"Specifically,":[79],"for":[80],"small":[84],"indoor":[85],"outdoor":[87],"propose":[90],"a":[91,119],"reprojection":[94],"regularization":[95],"module":[96],"that":[97,147],"alignment":[101],"computing":[103],"loss":[106],"between":[107],"two":[108],"views":[110,128,138],"same":[113],"surface.":[115],"Additionally,":[116],"develop":[118],"multiview":[120],"enhancement":[122],"module,":[123],"which":[124],"ensures":[125],"consistency":[126],"across":[127],"normals":[132],"pixel":[134],"points":[135],"calculating":[140],"loss.":[142],"Extensive":[143],"experimental":[144],"demonstrate":[146],"our":[148],"outperforms":[150],"baseline":[152],"both":[154],"quantitative":[155],"qualitative":[157],"evaluations,":[158],"significantly":[159],"enhancing":[160],"capability":[164],"3DGS.":[166]},"counts_by_year":[],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-11-28T00:00:00"}