{"id":"https://openalex.org/W4416749674","doi":"https://doi.org/10.1109/iros60139.2025.11247378","title":"OpenGS-Fusion: Open-Vocabulary Dense Mapping with Hybrid 3D Gaussian Splatting for Refined Object-Level Understanding","display_name":"OpenGS-Fusion: Open-Vocabulary Dense Mapping with Hybrid 3D Gaussian Splatting for Refined Object-Level Understanding","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416749674","doi":"https://doi.org/10.1109/iros60139.2025.11247378"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11247378","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247378","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/A5033935836","display_name":"Dianyi Yang","orcid":null},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dianyi Yang","raw_affiliation_strings":["Beijing Institute of Technology,School of Automation,Beijing,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology,School of Automation,Beijing,China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Xihan Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xihan Wang","raw_affiliation_strings":["Beijing Institute of Technology,School of Automation,Beijing,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology,School of Automation,Beijing,China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046032266","display_name":"Yu Gao","orcid":"https://orcid.org/0000-0002-4615-3614"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yu Gao","raw_affiliation_strings":["Beijing Institute of Technology,School of Automation,Beijing,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology,School of Automation,Beijing,China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114911176","display_name":"Shiyang Liu","orcid":"https://orcid.org/0009-0004-1478-5512"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shiyang Liu","raw_affiliation_strings":["Beijing Institute of Technology,School of Automation,Beijing,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology,School of Automation,Beijing,China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078230062","display_name":"Bohan Ren","orcid":null},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bohan Ren","raw_affiliation_strings":["Beijing Institute of Technology,School of Automation,Beijing,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology,School of Automation,Beijing,China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068949782","display_name":"Yufeng Yue","orcid":"https://orcid.org/0000-0001-6628-7946"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yufeng Yue","raw_affiliation_strings":["Beijing Institute of Technology,School of Automation,Beijing,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology,School of Automation,Beijing,China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5005421447","display_name":"Yi Yang","orcid":"https://orcid.org/0000-0002-0512-880X"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yi Yang","raw_affiliation_strings":["Beijing Institute of Technology,School of Automation,Beijing,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Institute of Technology,School of Automation,Beijing,China","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I125839683"],"apc_list":null,"apc_paid":null,"fwci":2.8315,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.92762852,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"21135","last_page":"21142"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.4088999927043915,"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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.4088999927043915,"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":0.19429999589920044,"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":0.11680000275373459,"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/segmentation","display_name":"Segmentation","score":0.548799991607666},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.4934999942779541},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.4603999853134155},{"id":"https://openalex.org/keywords/lossless-compression","display_name":"Lossless compression","score":0.44190001487731934},{"id":"https://openalex.org/keywords/code","display_name":"Code (set theory)","score":0.4004000127315521},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.390500009059906},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.3792000114917755},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.3682999908924103},{"id":"https://openalex.org/keywords/face","display_name":"Face (sociological concept)","score":0.35690000653266907}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7950999736785889},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6762999892234802},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.607200026512146},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.548799991607666},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.4934999942779541},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4603999853134155},{"id":"https://openalex.org/C81081738","wikidata":"https://www.wikidata.org/wiki/Q55542","display_name":"Lossless compression","level":3,"score":0.44190001487731934},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.4004000127315521},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.390500009059906},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.3792000114917755},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.3682999908924103},{"id":"https://openalex.org/C2779304628","wikidata":"https://www.wikidata.org/wiki/Q3503480","display_name":"Face (sociological concept)","level":2,"score":0.35690000653266907},{"id":"https://openalex.org/C109950114","wikidata":"https://www.wikidata.org/wiki/Q4464732","display_name":"3D reconstruction","level":2,"score":0.3467999994754791},{"id":"https://openalex.org/C103278499","wikidata":"https://www.wikidata.org/wiki/Q254465","display_name":"Similarity (geometry)","level":3,"score":0.3118000030517578},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.3107999861240387},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.3059000074863434},{"id":"https://openalex.org/C2775955345","wikidata":"https://www.wikidata.org/wiki/Q7449071","display_name":"Semantic mapping","level":2,"score":0.3043999969959259},{"id":"https://openalex.org/C43126263","wikidata":"https://www.wikidata.org/wiki/Q128751","display_name":"Source code","level":2,"score":0.2703999876976013},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.26460000872612},{"id":"https://openalex.org/C141898687","wikidata":"https://www.wikidata.org/wiki/Q1501997","display_name":"Hausdorff distance","level":2,"score":0.26409998536109924},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.26190000772476196},{"id":"https://openalex.org/C124504099","wikidata":"https://www.wikidata.org/wiki/Q56933","display_name":"Image segmentation","level":3,"score":0.26010000705718994},{"id":"https://openalex.org/C3019007443","wikidata":"https://www.wikidata.org/wiki/Q568742","display_name":"3d model","level":2,"score":0.25690001249313354},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.2540000081062317}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11247378","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247378","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"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W2594519801","https://openalex.org/W4200150166","https://openalex.org/W4210974115","https://openalex.org/W4312563428","https://openalex.org/W4312960937","https://openalex.org/W4383108296","https://openalex.org/W4385318467","https://openalex.org/W4385430678","https://openalex.org/W4385431115","https://openalex.org/W4386065742","https://openalex.org/W4390782051","https://openalex.org/W4390872744","https://openalex.org/W4390874575","https://openalex.org/W4400581036","https://openalex.org/W4400581064","https://openalex.org/W4400904825","https://openalex.org/W4401386940","https://openalex.org/W4401414715","https://openalex.org/W4401417460","https://openalex.org/W4401523508","https://openalex.org/W4402698355","https://openalex.org/W4402704512","https://openalex.org/W4402716032","https://openalex.org/W4402727529","https://openalex.org/W4402727865","https://openalex.org/W4402771875","https://openalex.org/W4402961810","https://openalex.org/W4403705798","https://openalex.org/W4403770187","https://openalex.org/W4403779097","https://openalex.org/W4404002612","https://openalex.org/W4404520250","https://openalex.org/W4404534221","https://openalex.org/W4404545730","https://openalex.org/W4405785623","https://openalex.org/W4409368305","https://openalex.org/W4411712579","https://openalex.org/W4413558613","https://openalex.org/W4415798623"],"related_works":[],"abstract_inverted_index":{"Recent":[0],"advancements":[1],"in":[2,10,112,130,144],"3D":[3,39,67,101,113,131],"scene":[4,135,146],"understanding":[5,41,133],"have":[6],"made":[7],"significant":[8],"strides":[9],"enabling":[11],"interaction":[12],"with":[13,70],"scenes":[14],"using":[15],"open-vocabulary":[16,53],"queries,":[17],"particularly":[18],"for":[19],"VR/AR":[20],"and":[21,33,61,134],"robotic":[22],"applications.":[23],"Nevertheless,":[24],"existing":[25,128],"methods":[26,129],"are":[27],"hindered":[28],"by":[29,103],"rigid":[30],"offline":[31],"pipelines":[32],"the":[34,98,117],"inability":[35],"to":[36,76,116],"provide":[37],"precise":[38],"object-level":[40,63],"given":[42],"open-ended":[43],"queries.":[44],"In":[45],"this":[46],"paper,":[47],"we":[48,85],"present":[49],"OpenGS-Fusion,":[50],"an":[51,109],"innovative":[52],"dense":[54],"mapping":[55],"framework":[56],"that":[57,124],"improves":[58],"semantic":[59,81],"modeling":[60],"refines":[62,97],"understanding.":[64],"OpenGS-Fusion":[65],"combines":[66],"Gaussian":[68],"representation":[69],"a":[71,87],"Truncated":[72],"Signed":[73],"Distance":[74],"Field":[75],"facilitate":[77],"lossless":[78],"fusion":[79],"of":[80,100],"features":[82],"on-the-fly.":[83],"Furthermore,":[84],"introduce":[86],"novel":[88],"multimodal":[89],"language-guided":[90,145],"approach":[91],"named":[92],"MLLM-Assisted":[93],"Adaptive":[94],"Thresholding,":[95],"which":[96],"segmentation":[99],"objects":[102],"adaptively":[104],"adjusting":[105],"similarity":[106],"thresholds,":[107],"achieving":[108],"improvement":[110],"17%":[111],"mIoU":[114],"compared":[115],"fixed":[118],"threshold":[119],"strategy.":[120],"Extensive":[121],"experiments":[122],"demonstrate":[123],"our":[125],"method":[126],"outperforms":[127],"object":[132],"reconstruction":[136],"quality,":[137],"as":[138,140],"well":[139],"showcasing":[141],"its":[142],"effectiveness":[143],"interaction.":[147],"The":[148],"code":[149],"is":[150],"available":[151],"at":[152],"https://young-bit.github.io/opengs-fusion.github.io/.":[153]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-11-28T00:00:00"}
