{"id":"https://openalex.org/W4406857047","doi":"https://doi.org/10.1109/lra.2025.3534683","title":"GEVO: Memory-Efficient Monocular Visual Odometry Using Gaussians","display_name":"GEVO: Memory-Efficient Monocular Visual Odometry Using Gaussians","publication_year":2025,"publication_date":"2025-01-27","ids":{"openalex":"https://openalex.org/W4406857047","doi":"https://doi.org/10.1109/lra.2025.3534683"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3534683","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3534683","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":"https://openalex.org/A5058487913","display_name":"Dasong Gao","orcid":"https://orcid.org/0000-0002-1391-0869"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dasong Gao","raw_affiliation_strings":["Massachusetts Institute of Technology, Cambridge, MA, USA"],"raw_orcid":"https://orcid.org/0000-0002-1391-0869","affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072075883","display_name":"Peter Zhi Xuan Li","orcid":"https://orcid.org/0000-0002-5260-4995"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Peter Zhi Xuan Li","raw_affiliation_strings":["Massachusetts Institute of Technology, Cambridge, MA, USA"],"raw_orcid":"https://orcid.org/0000-0002-5260-4995","affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066351389","display_name":"Vivienne Sze","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Vivienne Sze","raw_affiliation_strings":["Massachusetts Institute of Technology, Cambridge, MA, USA"],"raw_orcid":"https://orcid.org/0000-0003-4841-3990","affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5081073767","display_name":"Serta\u00e7 Karaman","orcid":"https://orcid.org/0000-0002-2225-7275"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sertac Karaman","raw_affiliation_strings":["Massachusetts Institute of Technology, Cambridge, MA, USA"],"raw_orcid":"https://orcid.org/0000-0002-2225-7275","affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.907,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.91250421,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":"10","issue":"3","first_page":"2774","last_page":"2781"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.996399998664856,"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":0.996399998664856,"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":0.9959999918937683,"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/T12549","display_name":"Image and Object Detection Techniques","score":0.9943000078201294,"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/monocular","display_name":"Monocular","score":0.77089524269104},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.691483736038208},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6741036772727966},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5408793687820435},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5363551378250122},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.112158864736557}],"concepts":[{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.77089524269104},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.691483736038208},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6741036772727966},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5408793687820435},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5363551378250122},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.112158864736557}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3534683","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3534683","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":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.4399999976158142}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W612478963","https://openalex.org/W1999085092","https://openalex.org/W2015207482","https://openalex.org/W2021851106","https://openalex.org/W2108134361","https://openalex.org/W2117228865","https://openalex.org/W2133665775","https://openalex.org/W2151103935","https://openalex.org/W2151290401","https://openalex.org/W2152671441","https://openalex.org/W2165949176","https://openalex.org/W2295862812","https://openalex.org/W2429678572","https://openalex.org/W2471962767","https://openalex.org/W2474281075","https://openalex.org/W2482726005","https://openalex.org/W2519683295","https://openalex.org/W2887751724","https://openalex.org/W2906263139","https://openalex.org/W2909150834","https://openalex.org/W2954772682","https://openalex.org/W2962785568","https://openalex.org/W3040281474","https://openalex.org/W3043971245","https://openalex.org/W3090386798","https://openalex.org/W3109908659","https://openalex.org/W4324290202","https://openalex.org/W4383066059","https://openalex.org/W4385318467","https://openalex.org/W4389665446","https://openalex.org/W4390480635","https://openalex.org/W4390872919","https://openalex.org/W4399574562","https://openalex.org/W4402698355","https://openalex.org/W4402716305","https://openalex.org/W4402727865","https://openalex.org/W4404545287","https://openalex.org/W6764040762"],"related_works":["https://openalex.org/W3006563365","https://openalex.org/W4386394365","https://openalex.org/W2789602789","https://openalex.org/W2593793146","https://openalex.org/W2954249689","https://openalex.org/W3035056458","https://openalex.org/W2626414811","https://openalex.org/W4313484789","https://openalex.org/W2001736731","https://openalex.org/W2964314455"],"abstract_inverted_index":{"Constructing":[0],"a":[1,9,14,67,109,156],"high-fidelity":[2,54],"representation":[3],"of":[4,17,45,56,70,88,124,149,158],"the":[5,43,93,99,128,143,147,150,167],"3D":[6,57],"scene":[7],"using":[8],"monocular":[10,111],"camera":[11],"can":[12],"enable":[13],"wide":[15],"range":[16],"applications":[18],"on":[19],"low-energy":[20],"devices,":[21,31],"such":[22],"as":[23,66,118],"micro-robots,":[24],"smartphones,":[25],"and":[26,38,96,134,145],"AR/VR":[27],"headsets.":[28],"On":[29],"these":[30],"memory":[32,64,91,101,168],"is":[33,62,73,175],"often":[34,41,84],"limited":[35],"in":[36],"capacity":[37],"its":[39],"access":[40],"dominates":[42],"consumption":[44],"compute":[46],"energy.":[47],"Although":[48],"Gaussian":[49,132],"Splatting":[50],"(GS)":[51],"allows":[52],"for":[53,78],"reconstruction":[55],"scenes,":[58],"current":[59],"GS-based":[60,110],"SLAM":[61,112],"not":[63],"efficient":[65],"large":[68],"number":[69],"past":[71],"images":[72,83,152],"stored":[74],"to":[75,139,170,177],"retrain":[76],"Gaussians":[77],"reducing":[79,166],"catastrophic":[80],"forgetting.":[81],"These":[82],"require":[85],"two":[86],"orders":[87],"magnitude":[89],"higher":[90],"than":[92,183],"map":[94,144,163],"itself":[95],"thus":[97],"dominate":[98],"total":[100],"usage.":[102],"In":[103],"this":[104],"work,":[105],"we":[106],"present":[107],"GEVO,":[108],"framework":[113],"that":[114],"achieves":[115,161],"comparable":[116,162],"fidelity":[117,164],"prior":[119,184],"methods":[120],"by":[121],"rendering":[122],"(instead":[123],"storing)":[125],"them":[126],"from":[127,142],"existing":[129],"map.":[130],"Novel":[131],"initialization":[133],"optimization":[135],"techniques":[136],"are":[137],"proposed":[138],"remove":[140],"artifacts":[141],"delay":[146],"degradation":[148],"rendered":[151],"over":[153],"time.":[154],"Across":[155],"variety":[157],"environments,":[159],"GEVO":[160],"while":[165],"overhead":[169],"around":[171],"58":[172],"MBs,":[173],"which":[174],"up":[176],"<inline-formula":[178],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[179],"xmlns:xlink=\"http://www.w3.org/1999/xlink\"><tex-math":[180],"notation=\"LaTeX\">$94\\times$</tex-math></inline-formula>":[181],"lower":[182],"works.":[185]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
