{"id":"https://openalex.org/W4416750306","doi":"https://doi.org/10.1109/iros60139.2025.11247480","title":"OpenMIGS: Multi-granularity Information-preserving Open-Vocabulary 3D Gaussian Splatting","display_name":"OpenMIGS: Multi-granularity Information-preserving Open-Vocabulary 3D Gaussian Splatting","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416750306","doi":"https://doi.org/10.1109/iros60139.2025.11247480"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11247480","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247480","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/A5090011572","display_name":"Jingyu Zhao","orcid":"https://orcid.org/0000-0001-7968-1248"},"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":true,"raw_author_name":"Jingyu Zhao","raw_affiliation_strings":["Beijing Institute of Technology,School of Automation,Beijing,China"],"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/A5089662760","display_name":"Jiahui Wang","orcid":"https://orcid.org/0009-0006-1601-8389"},"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":"Jiahui Wang","raw_affiliation_strings":["Beijing Institute of Technology,School of Automation,Beijing,China"],"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/A5005080478","display_name":"Yinan Deng","orcid":"https://orcid.org/0009-0003-7973-1892"},"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":"Yinan Deng","raw_affiliation_strings":["Beijing Institute of Technology,School of Automation,Beijing,China"],"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/A5068949782","display_name":"Yufeng Yue","orcid":"https://orcid.org/0000-0001-6628-7946"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yufeng Yue","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5090011572"],"corresponding_institution_ids":["https://openalex.org/I125839683"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.43993411,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"21143","last_page":"21150"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.388700008392334,"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":0.388700008392334,"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":0.11810000240802765,"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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.09290000051259995,"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/object","display_name":"Object (grammar)","score":0.5375000238418579},{"id":"https://openalex.org/keywords/cluster-analysis","display_name":"Cluster analysis","score":0.4779999852180481},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.4749000072479248},{"id":"https://openalex.org/keywords/consistency","display_name":"Consistency (knowledge bases)","score":0.4722999930381775},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.4146000146865845},{"id":"https://openalex.org/keywords/code","display_name":"Code (set theory)","score":0.4090000092983246},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.3928999900817871},{"id":"https://openalex.org/keywords/uncompressed-video","display_name":"Uncompressed video","score":0.38580000400543213}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8166999816894531},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5460000038146973},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5375000238418579},{"id":"https://openalex.org/C73555534","wikidata":"https://www.wikidata.org/wiki/Q622825","display_name":"Cluster analysis","level":2,"score":0.4779999852180481},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.4749000072479248},{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.4722999930381775},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.4146000146865845},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.41029998660087585},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.4090000092983246},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.3928999900817871},{"id":"https://openalex.org/C162478608","wikidata":"https://www.wikidata.org/wiki/Q4011369","display_name":"Uncompressed video","level":4,"score":0.38580000400543213},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.37279999256134033},{"id":"https://openalex.org/C136085584","wikidata":"https://www.wikidata.org/wiki/Q910289","display_name":"Overlay","level":2,"score":0.3725999891757965},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.3497999906539917},{"id":"https://openalex.org/C2776459999","wikidata":"https://www.wikidata.org/wiki/Q2119376","display_name":"Fidelity","level":2,"score":0.34549999237060547},{"id":"https://openalex.org/C43126263","wikidata":"https://www.wikidata.org/wiki/Q128751","display_name":"Source code","level":2,"score":0.34130001068115234},{"id":"https://openalex.org/C2776674983","wikidata":"https://www.wikidata.org/wiki/Q545981","display_name":"Image editing","level":3,"score":0.2858000099658966},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.2770000100135803},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.2766999900341034},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.26969999074935913},{"id":"https://openalex.org/C64876066","wikidata":"https://www.wikidata.org/wiki/Q5141226","display_name":"Cognitive neuroscience of visual object recognition","level":3,"score":0.26930001378059387},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.2639000117778778},{"id":"https://openalex.org/C124304363","wikidata":"https://www.wikidata.org/wiki/Q673661","display_name":"Abstraction","level":2,"score":0.26019999384880066},{"id":"https://openalex.org/C17137986","wikidata":"https://www.wikidata.org/wiki/Q215067","display_name":"Orthogonality","level":2,"score":0.25769999623298645}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11247480","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247480","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":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W2523049145","https://openalex.org/W2594519801","https://openalex.org/W2904332125","https://openalex.org/W2970641574","https://openalex.org/W3004300126","https://openalex.org/W4200150166","https://openalex.org/W4322773725","https://openalex.org/W4362654058","https://openalex.org/W4385318467","https://openalex.org/W4385431115","https://openalex.org/W4389428677","https://openalex.org/W4390872744","https://openalex.org/W4392979517","https://openalex.org/W4401414715","https://openalex.org/W4401523508","https://openalex.org/W4401691722","https://openalex.org/W4402716032","https://openalex.org/W4402727529","https://openalex.org/W4402771875","https://openalex.org/W4403770187","https://openalex.org/W4403792110","https://openalex.org/W4404002612","https://openalex.org/W4404612589","https://openalex.org/W4405022569"],"related_works":[],"abstract_inverted_index":{"Open-vocabulary":[0],"scene":[1,142],"understanding":[2,58,134],"is":[3,150],"critical":[4],"for":[5,54,144],"robotics,":[6],"yet":[7],"existing":[8,130],"3D":[9],"Gaussian":[10,70],"Splatting":[11],"(3DGS)":[12],"methods":[13,131],"rely":[14],"on":[15,100,123],"compressed":[16],"feature":[17],"embeddings,":[18],"compromising":[19],"semantic":[20,146],"fidelity":[21],"and":[22,40,62,86,135],"fine-grained":[23],"interpretation.":[24],"Although":[25],"utilizing":[26],"uncompressed":[27,96],"high-dimensional":[28,97,116],"features":[29],"offers":[30],"a":[31,50,76,87,102],"potential":[32],"solution,":[33],"their":[34,95],"direct":[35],"integration":[36],"imposes":[37],"prohibitive":[38],"memory":[39],"computational":[41],"costs.":[42],"To":[43],"address":[44],"this":[45],"challenge,":[46],"we":[47],"propose":[48],"OpenMIGS,":[49],"novel":[51],"3DGS-based":[52],"framework":[53],"multi-granularity,":[55],"information-preserving":[56],"open-vocabulary":[57,133],"across":[59],"both":[60],"object":[61,84,92,111],"part":[63],"levels.":[64],"Specifically,":[65],"OpenMIGS":[66,128],"first":[67],"constructs":[68],"object-level":[69],"fields":[71],"as":[72],"structured":[73],"carriers":[74],"where":[75],"two-stage":[77],"clustering":[78],"strategy":[79],"ensures":[80],"global":[81],"consistency":[82],"in":[83,132],"labeling,":[85],"code-book":[88],"subsequently":[89],"associates":[90],"these":[91],"label":[93],"with":[94],"features.":[98],"Building":[99],"this,":[101],"lightweight":[103],"implicit":[104],"field":[105],"processes":[106],"the":[107],"geometric":[108],"coordinates":[109],"of":[110],"Gaussians":[112],"to":[113],"regress":[114],"part-level":[115],"features,":[117],"enabling":[118],"multi-granularity":[119,141],"understanding.":[120],"Experimental":[121],"results":[122],"multiple":[124],"datasets":[125],"show":[126],"that":[127],"outperforms":[129],"retrieval":[136],"tasks.":[137],"It":[138],"also":[139],"supports":[140],"editing":[143],"flexible":[145],"manipulation.":[147],"The":[148],"code":[149],"available":[151],"at":[152],"https://github.com/jingyuzhao1010/OpenMIGS.":[153]},"counts_by_year":[],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-11-28T00:00:00"}
