{"id":"https://openalex.org/W4402508764","doi":"https://doi.org/10.1109/lra.2024.3460410","title":"HGS-Mapping: Online Dense Mapping Using Hybrid Gaussian Representation in Urban Scenes","display_name":"HGS-Mapping: Online Dense Mapping Using Hybrid Gaussian Representation in Urban Scenes","publication_year":2024,"publication_date":"2024-09-13","ids":{"openalex":"https://openalex.org/W4402508764","doi":"https://doi.org/10.1109/lra.2024.3460410"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3460410","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3460410","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-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":null,"display_name":"Ke Wu","orcid":"https://orcid.org/0009-0006-7732-3619"},"institutions":[{"id":"https://openalex.org/I24943067","display_name":"Fudan University","ror":"https://ror.org/013q1eq08","country_code":"CN","type":"education","lineage":["https://openalex.org/I24943067"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Ke Wu","raw_affiliation_strings":["Academy for Engineering and Technology, Fudan University, Shanghai, China"],"raw_orcid":"https://orcid.org/0009-0006-7732-3619","affiliations":[{"raw_affiliation_string":"Academy for Engineering and Technology, Fudan University, Shanghai, China","institution_ids":["https://openalex.org/I24943067"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108333408","display_name":"Kaizhao Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I24943067","display_name":"Fudan University","ror":"https://ror.org/013q1eq08","country_code":"CN","type":"education","lineage":["https://openalex.org/I24943067"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kaizhao Zhang","raw_affiliation_strings":["Academy for Engineering and Technology, Fudan University, Shanghai, China"],"raw_orcid":"https://orcid.org/0009-0007-8586-2353","affiliations":[{"raw_affiliation_string":"Academy for Engineering and Technology, Fudan University, Shanghai, China","institution_ids":["https://openalex.org/I24943067"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001258158","display_name":"Zhiwei Zhang","orcid":"https://orcid.org/0000-0003-3535-707X"},"institutions":[{"id":"https://openalex.org/I24943067","display_name":"Fudan University","ror":"https://ror.org/013q1eq08","country_code":"CN","type":"education","lineage":["https://openalex.org/I24943067"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiwei Zhang","raw_affiliation_strings":["Academy for Engineering and Technology, Fudan University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0003-3535-707X","affiliations":[{"raw_affiliation_string":"Academy for Engineering and Technology, Fudan University, Shanghai, China","institution_ids":["https://openalex.org/I24943067"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5094302667","display_name":"Muer Tie","orcid":null},"institutions":[{"id":"https://openalex.org/I24943067","display_name":"Fudan University","ror":"https://ror.org/013q1eq08","country_code":"CN","type":"education","lineage":["https://openalex.org/I24943067"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Muer Tie","raw_affiliation_strings":["Academy for Engineering and Technology, Fudan University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Academy for Engineering and Technology, Fudan University, Shanghai, China","institution_ids":["https://openalex.org/I24943067"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102638301","display_name":"Shanshuai Yuan","orcid":null},"institutions":[{"id":"https://openalex.org/I24943067","display_name":"Fudan University","ror":"https://ror.org/013q1eq08","country_code":"CN","type":"education","lineage":["https://openalex.org/I24943067"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shanshuai Yuan","raw_affiliation_strings":["Academy for Engineering and Technology, Fudan University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Academy for Engineering and Technology, Fudan University, Shanghai, China","institution_ids":["https://openalex.org/I24943067"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047571832","display_name":"Jieru Zhao","orcid":"https://orcid.org/0000-0001-8211-2812"},"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":"Jieru Zhao","raw_affiliation_strings":["Department of Computer Science and Engineering, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0001-8211-2812","affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103131528","display_name":"Zhongxue Gan","orcid":"https://orcid.org/0000-0003-1365-396X"},"institutions":[{"id":"https://openalex.org/I24943067","display_name":"Fudan University","ror":"https://ror.org/013q1eq08","country_code":"CN","type":"education","lineage":["https://openalex.org/I24943067"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhongxue Gan","raw_affiliation_strings":["Academy for Engineering and Technology, Fudan University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0003-1365-396X","affiliations":[{"raw_affiliation_string":"Academy for Engineering and Technology, Fudan University, Shanghai, China","institution_ids":["https://openalex.org/I24943067"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102769588","display_name":"Wenchao Ding","orcid":"https://orcid.org/0000-0003-4249-526X"},"institutions":[{"id":"https://openalex.org/I24943067","display_name":"Fudan University","ror":"https://ror.org/013q1eq08","country_code":"CN","type":"education","lineage":["https://openalex.org/I24943067"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenchao Ding","raw_affiliation_strings":["Academy for Engineering and Technology, Fudan University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0003-4249-526X","affiliations":[{"raw_affiliation_string":"Academy for Engineering and Technology, Fudan University, Shanghai, China","institution_ids":["https://openalex.org/I24943067"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I24943067"],"apc_list":null,"apc_paid":null,"fwci":2.7134,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.90122106,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"9","issue":"11","first_page":"9573","last_page":"9580"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9937999844551086,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9937999844551086,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental 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":0.9613000154495239,"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/T10111","display_name":"Remote Sensing in Agriculture","score":0.9386000037193298,"subfield":{"id":"https://openalex.org/subfields/2303","display_name":"Ecology"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.6911863684654236},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.6299104690551758},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5406444072723389},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.424981951713562},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3523702323436737},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.3452790379524231},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.3209322988986969},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12027683854103088},{"id":"https://openalex.org/keywords/political-science","display_name":"Political science","score":0.05320289731025696}],"concepts":[{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.6911863684654236},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.6299104690551758},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5406444072723389},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.424981951713562},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3523702323436737},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.3452790379524231},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.3209322988986969},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12027683854103088},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.05320289731025696},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2024.3460410","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3460410","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.75}],"awards":[{"id":"https://openalex.org/G6788622406","display_name":null,"funder_award_id":"62403142","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"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":21,"referenced_works":["https://openalex.org/W2115579991","https://openalex.org/W2621274416","https://openalex.org/W3035172746","https://openalex.org/W3035574168","https://openalex.org/W3109585842","https://openalex.org/W3132401233","https://openalex.org/W3215769467","https://openalex.org/W4221151978","https://openalex.org/W4315778466","https://openalex.org/W4385318467","https://openalex.org/W4390872507","https://openalex.org/W4391506026","https://openalex.org/W4402698355","https://openalex.org/W4402727528","https://openalex.org/W4402727865","https://openalex.org/W4402754225","https://openalex.org/W6773019456","https://openalex.org/W6859420919","https://openalex.org/W6860659347","https://openalex.org/W6861891991","https://openalex.org/W6863033194"],"related_works":["https://openalex.org/W2062195135","https://openalex.org/W2795079307","https://openalex.org/W2793058541","https://openalex.org/W1983629434","https://openalex.org/W2055929693","https://openalex.org/W4324271173","https://openalex.org/W2755342338","https://openalex.org/W1967645776","https://openalex.org/W2352227742","https://openalex.org/W4390679071"],"abstract_inverted_index":{"Online":[0],"dense":[1,21,58,66,105,170],"mapping":[2,22,67,106,171],"of":[3,15,48,80,126,157,172,186],"urban":[4,95,173],"scenes":[5],"forms":[6],"a":[7,64,138],"fundamental":[8],"cornerstone":[9],"for":[10,91],"scene":[11,129],"understanding":[12],"and":[13,88,143,151],"navigation":[14],"autonomous":[16],"vehicles.":[17],"Recent":[18],"advancements":[19],"in":[20,56,93,108],"methods":[23],"are":[24,161],"mainly":[25],"based":[26],"on":[27],"NeRF,":[28,52],"whose":[29],"rendering":[30,45],"speed":[31,46],"is":[32],"too":[33],"slow":[34],"to":[35,77,148,164,189],"meet":[36],"online":[37,57,104,169],"requirements.":[38],"3D":[39],"Gaussian":[40,120,140,166],"Splatting":[41],"(3DGS),":[42],"with":[43,132],"its":[44],"hundreds":[47],"times":[49],"faster":[50,191],"than":[51],"holds":[53],"greater":[54],"potential":[55],"mapping.":[59],"However,":[60],"integrating":[61],"3DGS":[62],"into":[63,168],"street-view":[65],"framework":[68,107,117],"still":[69],"faces":[70],"two":[71],"challenges,":[72],"including":[73],"incomplete":[74],"reconstruction":[75,92,179,192],"due":[76],"the":[78,84,127,155,162],"absence":[79],"geometric":[81],"information":[82],"beyond":[83],"LiDAR":[85],"coverage":[86],"area":[87],"extensive":[89],"computation":[90],"large":[94],"scenes.":[96,111,174],"To":[97,112,154],"this":[98],"end,":[99],"we":[100,136,160],"propose":[101],"HGS-Mapping,":[102],"an":[103,144],"unbounded":[109],"large-scale":[110],"attain":[113],"complete":[114],"construction,":[115],"our":[116,158],"introduces":[118],"Hybrid":[119],"Representation,":[121],"which":[122],"models":[123],"different":[124],"parts":[125],"entire":[128],"using":[130],"Gaussians":[131],"distinct":[133],"properties.":[134],"Furthermore,":[135],"employ":[137],"hybrid":[139],"initialization":[141],"mechanism":[142],"adaptive":[145],"update":[146],"method":[147],"achieve":[149],"high-fidelity":[150],"rapid":[152],"reconstruction.":[153],"best":[156],"knowledge,":[159],"first":[163],"integrate":[165],"representation":[167],"Our":[175],"approach":[176],"achieves":[177],"SOTA":[178],"accuracy":[180],"while":[181],"only":[182],"employing":[183],"66%":[184],"number":[185],"Gaussians,":[187],"leading":[188],"20%":[190],"speed.":[193]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":1}],"updated_date":"2026-05-05T08:41:31.759640","created_date":"2025-10-10T00:00:00"}
