{"id":"https://openalex.org/W4407948647","doi":"https://doi.org/10.1109/lra.2025.3546130","title":"DDN-SLAM: Real Time Dense Dynamic Neural Implicit SLAM","display_name":"DDN-SLAM: Real Time Dense Dynamic Neural Implicit SLAM","publication_year":2025,"publication_date":"2025-02-26","ids":{"openalex":"https://openalex.org/W4407948647","doi":"https://doi.org/10.1109/lra.2025.3546130"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3546130","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3546130","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/A5107048412","display_name":"Mingrui Li","orcid":"https://orcid.org/0009-0008-8937-4151"},"institutions":[{"id":"https://openalex.org/I27357992","display_name":"Dalian University of Technology","ror":"https://ror.org/023hj5876","country_code":"CN","type":"education","lineage":["https://openalex.org/I27357992"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mingrui Li","raw_affiliation_strings":["Dalian University of Technology, Dalian City, China","Dalian University of Technology, China"],"raw_orcid":"https://orcid.org/0009-0008-8937-4151","affiliations":[{"raw_affiliation_string":"Dalian University of Technology, Dalian City, China","institution_ids":["https://openalex.org/I27357992"]},{"raw_affiliation_string":"Dalian University of Technology, China","institution_ids":["https://openalex.org/I27357992"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100584237","display_name":"Zhetao Guo","orcid":"https://orcid.org/0009-0004-4083-8171"},"institutions":[{"id":"https://openalex.org/I4210128853","display_name":"China Datang Corporation (China)","ror":"https://ror.org/033mgm122","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210128853"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhetao Guo","raw_affiliation_strings":["Yunhai Shikong Data Technology Company Ltd., Beijing, China","Yunhai Shikong Data Technology Co., Ltd., China"],"raw_orcid":"https://orcid.org/0009-0004-4083-8171","affiliations":[{"raw_affiliation_string":"Yunhai Shikong Data Technology Company Ltd., Beijing, China","institution_ids":["https://openalex.org/I4210128853"]},{"raw_affiliation_string":"Yunhai Shikong Data Technology Co., Ltd., China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078717226","display_name":"Tianchen Deng","orcid":"https://orcid.org/0000-0002-4368-7936"},"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":"Tianchen Deng","raw_affiliation_strings":["Shanghai Jiao Tong University, Shanghai, China","Shanghai Jiao Tong University, China"],"raw_orcid":"https://orcid.org/0000-0002-4368-7936","affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"Shanghai Jiao Tong University, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Yiming Zhou","orcid":"https://orcid.org/0009-0009-9467-0497"},"institutions":[{"id":"https://openalex.org/I91712215","display_name":"Saarland University","ror":"https://ror.org/01jdpyv68","country_code":"DE","type":"education","lineage":["https://openalex.org/I91712215"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Yiming Zhou","raw_affiliation_strings":["Saarland University of Applied Sciences, Saarbruecken, Germany","Saarland University of Applied Sciences, China"],"raw_orcid":"https://orcid.org/0009-0009-9467-0497","affiliations":[{"raw_affiliation_string":"Saarland University of Applied Sciences, Saarbruecken, Germany","institution_ids":["https://openalex.org/I91712215"]},{"raw_affiliation_string":"Saarland University of Applied Sciences, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":null,"display_name":"Yuxiang Ren","orcid":"https://orcid.org/0009-0000-1186-2421"},"institutions":[{"id":"https://openalex.org/I6507939","display_name":"China United Network Communications Group (China)","ror":"https://ror.org/028w99c90","country_code":"CN","type":"company","lineage":["https://openalex.org/I6507939"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuxiang Ren","raw_affiliation_strings":["Beijing Dianjing Ciyuan Network Technology Company Ltd., Beijing, China","Beijing Dianjing Ciyuan Network Technology Co.,Ltd., China"],"raw_orcid":"https://orcid.org/0009-0000-1186-2421","affiliations":[{"raw_affiliation_string":"Beijing Dianjing Ciyuan Network Technology Company Ltd., Beijing, China","institution_ids":["https://openalex.org/I6507939"]},{"raw_affiliation_string":"Beijing Dianjing Ciyuan Network Technology Co.,Ltd., China","institution_ids":[]}]},{"author_position":"last","author":{"id":null,"display_name":"Hongyu Wang","orcid":"https://orcid.org/0000-0002-1038-412X"},"institutions":[{"id":"https://openalex.org/I27357992","display_name":"Dalian University of Technology","ror":"https://ror.org/023hj5876","country_code":"CN","type":"education","lineage":["https://openalex.org/I27357992"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongyu Wang","raw_affiliation_strings":["Dalian University of Technology, Dalian City, China","Dalian University of Technology, China"],"raw_orcid":"https://orcid.org/0000-0002-1038-412X","affiliations":[{"raw_affiliation_string":"Dalian University of Technology, Dalian City, China","institution_ids":["https://openalex.org/I27357992"]},{"raw_affiliation_string":"Dalian University of Technology, China","institution_ids":["https://openalex.org/I27357992"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":59.2887,"has_fulltext":false,"cited_by_count":20,"citation_normalized_percentile":{"value":0.99865526,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"10","issue":"5","first_page":"4300","last_page":"4307"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9976999759674072,"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":0.9976999759674072,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9962000250816345,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9890000224113464,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"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/artificial-intelligence","display_name":"Artificial intelligence","score":0.553395688533783},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4545128345489502},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.4182283580303192}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.553395688533783},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4545128345489502},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.4182283580303192}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3546130","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3546130","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":[],"awards":[{"id":"https://openalex.org/G1500189215","display_name":"\u9ad8\u5149\u8c31\u4e0e\u6781\u5316SAR\u56fe\u50cf\u534f\u540c\u6df1\u5ea6\u5b66\u4e60\u5206\u7c7b\u65b9\u6cd5\u7814\u7a76","funder_award_id":"61671103","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3154331942","display_name":null,"funder_award_id":"2022JJ11CG002","funder_id":"https://openalex.org/F4320336584","funder_display_name":"Dalian Science and Technology Innovation Fund"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320336584","display_name":"Dalian Science and Technology Innovation Fund","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W2808571300","https://openalex.org/W3003179103","https://openalex.org/W3043971245","https://openalex.org/W3089905794","https://openalex.org/W3089936780","https://openalex.org/W3166286843","https://openalex.org/W4221151978","https://openalex.org/W4285507666","https://openalex.org/W4312290933","https://openalex.org/W4312878643","https://openalex.org/W4367663104","https://openalex.org/W4383109324","https://openalex.org/W4386066489","https://openalex.org/W4386432320","https://openalex.org/W4390421916","https://openalex.org/W4391116129","https://openalex.org/W4391686832","https://openalex.org/W4392174005","https://openalex.org/W4399767121","https://openalex.org/W4400645603","https://openalex.org/W4402716403","https://openalex.org/W4402898845","https://openalex.org/W4402980676","https://openalex.org/W4404370915","https://openalex.org/W4406046476","https://openalex.org/W6748528437","https://openalex.org/W6850630192","https://openalex.org/W6858522730","https://openalex.org/W6862963081","https://openalex.org/W6873698311","https://openalex.org/W6874796540"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"SLAM":[0,50,134],"systems":[1],"based":[2,87],"on":[3,88,139],"NeRF":[4],"have":[5],"demonstrated":[6],"superior":[7],"performance":[8],"in":[9,31,120,147],"rendering":[10],"quality":[11],"and":[12,28,93,116],"scene":[13],"reconstruction":[14],"for":[15],"static":[16],"environments":[17],"compared":[18],"to":[19,102,130],"traditional":[20],"dense":[21,46],"SLAM.":[22],"However,":[23],"they":[24],"encounter":[25],"tracking":[26,58,115,137],"drift":[27],"mapping":[29,85],"errors":[30],"real-world":[32],"scenarios":[33],"with":[34,71],"dynamic":[35,47,57,99,104,121,127,140],"interferences.":[36],"To":[37,55,77],"address":[38,56],"these":[39],"issues,":[40],"we":[41,60,82],"propose":[42,61,83,97],"DDN-SLAM,":[43],"a":[44,62,72,84,98],"real-time":[45],"neural":[48,132],"implicit":[49,133],"system":[51],"integrating":[52],"semantic":[53,69,100],"features.":[54],"interferences,":[59],"feature":[63],"point":[64,90],"segmentation":[65],"method":[66],"that":[67,109],"combines":[68],"features":[70],"mixed":[73],"Gaussian":[74],"distribution":[75],"model.":[76],"avoid":[78],"incorrect":[79],"background":[80,94],"removal,":[81],"strategy":[86],"sparse":[89],"cloud":[91],"sampling":[92],"restoration.":[95],"We":[96],"loss":[101],"eliminate":[103],"occlusions.":[105],"Experimental":[106],"results":[107,138],"demonstrate":[108],"DDN-SLAM":[110],"is":[111],"capable":[112],"of":[113],"robustly":[114],"producing":[117],"high-quality":[118],"reconstructions":[119],"environments,":[122],"while":[123],"appropriately":[124],"preserving":[125],"potential":[126],"objects.":[128],"Compared":[129],"existing":[131],"systems,":[135],"the":[136],"datasets":[141],"indicate":[142],"an":[143],"average":[144],"90%":[145],"improvement":[146],"Average":[148],"Trajectory":[149],"Error":[150],"(ATE)":[151],"accuracy.":[152]},"counts_by_year":[{"year":2026,"cited_by_count":7},{"year":2025,"cited_by_count":13}],"updated_date":"2026-07-17T09:13:05.818461","created_date":"2025-10-10T00:00:00"}