{"id":"https://openalex.org/W4416750824","doi":"https://doi.org/10.1109/iros60139.2025.11247548","title":"MemGS: Memory-Efficient Gaussian Splatting for Real-Time SLAM","display_name":"MemGS: Memory-Efficient Gaussian Splatting for Real-Time SLAM","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416750824","doi":"https://doi.org/10.1109/iros60139.2025.11247548"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11247548","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247548","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/A5008002350","display_name":"Yinlong Bai","orcid":null},"institutions":[{"id":"https://openalex.org/I16609230","display_name":"Hunan University","ror":"https://ror.org/05htk5m33","country_code":"CN","type":"education","lineage":["https://openalex.org/I16609230"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yinlong Bai","raw_affiliation_strings":["Hunan University,Neuromorphic Automation and Intelligence Lab (NAIL) at School of Robotics,Changsha,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hunan University,Neuromorphic Automation and Intelligence Lab (NAIL) at School of Robotics,Changsha,China","institution_ids":["https://openalex.org/I16609230"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100777467","display_name":"Hongxin Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I16609230","display_name":"Hunan University","ror":"https://ror.org/05htk5m33","country_code":"CN","type":"education","lineage":["https://openalex.org/I16609230"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongxin Zhang","raw_affiliation_strings":["Hunan University,Neuromorphic Automation and Intelligence Lab (NAIL) at School of Robotics,Changsha,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hunan University,Neuromorphic Automation and Intelligence Lab (NAIL) at School of Robotics,Changsha,China","institution_ids":["https://openalex.org/I16609230"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026169204","display_name":"Sheng Zhong","orcid":"https://orcid.org/0000-0003-2865-8202"},"institutions":[{"id":"https://openalex.org/I16609230","display_name":"Hunan University","ror":"https://ror.org/05htk5m33","country_code":"CN","type":"education","lineage":["https://openalex.org/I16609230"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Sheng Zhong","raw_affiliation_strings":["Hunan University,Neuromorphic Automation and Intelligence Lab (NAIL) at School of Robotics,Changsha,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hunan University,Neuromorphic Automation and Intelligence Lab (NAIL) at School of Robotics,Changsha,China","institution_ids":["https://openalex.org/I16609230"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001681262","display_name":"Junkai Niu","orcid":null},"institutions":[{"id":"https://openalex.org/I16609230","display_name":"Hunan University","ror":"https://ror.org/05htk5m33","country_code":"CN","type":"education","lineage":["https://openalex.org/I16609230"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junkai Niu","raw_affiliation_strings":["Hunan University,Neuromorphic Automation and Intelligence Lab (NAIL) at School of Robotics,Changsha,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hunan University,Neuromorphic Automation and Intelligence Lab (NAIL) at School of Robotics,Changsha,China","institution_ids":["https://openalex.org/I16609230"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037732249","display_name":"Hai Li","orcid":"https://orcid.org/0009-0004-7299-2042"},"institutions":[{"id":"https://openalex.org/I182003036","display_name":"IDEO (United States)","ror":"https://ror.org/039d85044","country_code":"US","type":"company","lineage":["https://openalex.org/I182003036"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hai Li","raw_affiliation_strings":["TCL RayNeo (RayNeo),Ningbo,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"TCL RayNeo (RayNeo),Ningbo,China","institution_ids":["https://openalex.org/I182003036"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029738461","display_name":"Yijia He","orcid":"https://orcid.org/0000-0003-4358-7393"},"institutions":[{"id":"https://openalex.org/I182003036","display_name":"IDEO (United States)","ror":"https://ror.org/039d85044","country_code":"US","type":"company","lineage":["https://openalex.org/I182003036"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yijia He","raw_affiliation_strings":["TCL RayNeo (RayNeo),Ningbo,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"TCL RayNeo (RayNeo),Ningbo,China","institution_ids":["https://openalex.org/I182003036"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102737078","display_name":"Yi Zhou","orcid":"https://orcid.org/0000-0003-3201-8873"},"institutions":[{"id":"https://openalex.org/I16609230","display_name":"Hunan University","ror":"https://ror.org/05htk5m33","country_code":"CN","type":"education","lineage":["https://openalex.org/I16609230"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yi Zhou","raw_affiliation_strings":["Hunan University,Neuromorphic Automation and Intelligence Lab (NAIL) at School of Robotics,Changsha,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hunan University,Neuromorphic Automation and Intelligence Lab (NAIL) at School of Robotics,Changsha,China","institution_ids":["https://openalex.org/I16609230"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"11097","last_page":"11103"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.6545000076293945,"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":0.6545000076293945,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.07980000227689743,"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/T10481","display_name":"Computer Graphics and Visualization Techniques","score":0.06710000336170197,"subfield":{"id":"https://openalex.org/subfields/1704","display_name":"Computer Graphics and Computer-Aided Design"},"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/rendering","display_name":"Rendering (computer graphics)","score":0.7307000160217285},{"id":"https://openalex.org/keywords/initialization","display_name":"Initialization","score":0.7196999788284302},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.5309000015258789},{"id":"https://openalex.org/keywords/3d-rendering","display_name":"3D rendering","score":0.47769999504089355},{"id":"https://openalex.org/keywords/voxel","display_name":"Voxel","score":0.4049000144004822},{"id":"https://openalex.org/keywords/geometric-primitive","display_name":"Geometric primitive","score":0.3840000033378601},{"id":"https://openalex.org/keywords/space-partitioning","display_name":"Space partitioning","score":0.362199991941452}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.878600001335144},{"id":"https://openalex.org/C205711294","wikidata":"https://www.wikidata.org/wiki/Q176953","display_name":"Rendering (computer graphics)","level":2,"score":0.7307000160217285},{"id":"https://openalex.org/C114466953","wikidata":"https://www.wikidata.org/wiki/Q6034165","display_name":"Initialization","level":2,"score":0.7196999788284302},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.559499979019165},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5321000218391418},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.5309000015258789},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5256999731063843},{"id":"https://openalex.org/C36816356","wikidata":"https://www.wikidata.org/wiki/Q16911860","display_name":"3D rendering","level":3,"score":0.47769999504089355},{"id":"https://openalex.org/C54170458","wikidata":"https://www.wikidata.org/wiki/Q663554","display_name":"Voxel","level":2,"score":0.4049000144004822},{"id":"https://openalex.org/C181095308","wikidata":"https://www.wikidata.org/wiki/Q1541599","display_name":"Geometric primitive","level":2,"score":0.3840000033378601},{"id":"https://openalex.org/C13670688","wikidata":"https://www.wikidata.org/wiki/Q3500548","display_name":"Space partitioning","level":2,"score":0.362199991941452},{"id":"https://openalex.org/C116921373","wikidata":"https://www.wikidata.org/wiki/Q2816483","display_name":"Real-time rendering","level":3,"score":0.3393999934196472},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.3057999908924103},{"id":"https://openalex.org/C141297171","wikidata":"https://www.wikidata.org/wiki/Q1143237","display_name":"Octree","level":2,"score":0.289900004863739},{"id":"https://openalex.org/C109950114","wikidata":"https://www.wikidata.org/wiki/Q4464732","display_name":"3D reconstruction","level":2,"score":0.27239999175071716},{"id":"https://openalex.org/C3019007443","wikidata":"https://www.wikidata.org/wiki/Q568742","display_name":"3d model","level":2,"score":0.2696000039577484},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.2619999945163727}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11247548","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247548","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/F4320337504","display_name":"Research and Development","ror":"https://ror.org/027s68j25"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1612997784","https://openalex.org/W1987648924","https://openalex.org/W2021851106","https://openalex.org/W2040104067","https://openalex.org/W2049981393","https://openalex.org/W2065906272","https://openalex.org/W2153054365","https://openalex.org/W2336961836","https://openalex.org/W2474281075","https://openalex.org/W2884962765","https://openalex.org/W2968585821","https://openalex.org/W3007240855","https://openalex.org/W3043971245","https://openalex.org/W3109585842","https://openalex.org/W3201611430","https://openalex.org/W4214768561","https://openalex.org/W4221151978","https://openalex.org/W4312234520","https://openalex.org/W4312878643","https://openalex.org/W4383108921","https://openalex.org/W4385318467","https://openalex.org/W4386066489","https://openalex.org/W4386066696","https://openalex.org/W4389665446","https://openalex.org/W4390873648","https://openalex.org/W4400581064","https://openalex.org/W4402698355","https://openalex.org/W4402716305","https://openalex.org/W4402716359","https://openalex.org/W4402727865","https://openalex.org/W4403705798"],"related_works":[],"abstract_inverted_index":{"Recent":[0],"advancements":[1],"in":[2,69,86,92],"3D":[3,83,116],"Gaussian":[4,84,117],"Splatting":[5],"(3DGS)":[6],"have":[7],"made":[8],"a":[9,54],"significant":[10],"impact":[11],"on":[12,21,96,136],"rendering":[13,23,77,110],"and":[14,25,50,59,133],"reconstruction":[15,26,60],"techniques.":[16],"Current":[17],"research":[18],"predominantly":[19],"focuses":[20],"improving":[22],"performance":[24,58],"quality":[27,111],"using":[28],"high-performance":[29],"desktop":[30],"GPUs,":[31],"largely":[32],"overlooking":[33],"applications":[34],"for":[35],"embedded":[36],"platforms":[37],"like":[38],"micro":[39],"air":[40],"vehicles":[41],"(MAVs).":[42],"These":[43],"devices,":[44],"with":[45],"their":[46],"limited":[47],"computational":[48],"resources":[49],"memory,":[51],"often":[52],"face":[53],"trade-off":[55],"between":[56],"system":[57,106],"quality.":[61,78],"In":[62],"this":[63],"paper,":[64],"we":[65,88],"improve":[66],"existing":[67],"methods":[68],"terms":[70],"of":[71,128,143],"GPU":[72,101],"memory":[73,102],"usage":[74,103],"while":[75],"enhancing":[76],"Specifically,":[79],"to":[80],"address":[81],"redundant":[82],"primitives":[85,118],"SLAM,":[87],"propose":[89],"merging":[90],"them":[91],"voxel":[93],"space":[94],"based":[95],"geometric":[97],"similarity.":[98],"This":[99],"reduces":[100],"without":[104],"impacting":[105],"runtime":[107],"performance.":[108],"Furthermore,":[109],"is":[112],"improved":[113],"by":[114],"initializing":[115],"via":[119],"Patch-Grid":[120],"(PG)":[121],"point":[122],"sampling,":[123],"enabling":[124],"more":[125],"accurate":[126],"modeling":[127],"the":[129,141],"entire":[130],"scene.":[131],"Quantitative":[132],"qualitative":[134],"evaluations":[135],"publicly":[137],"available":[138],"datasets":[139],"demonstrate":[140],"effectiveness":[142],"our":[144],"improvements.":[145]},"counts_by_year":[{"year":2026,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-11-28T00:00:00"}
