{"id":"https://openalex.org/W4408715968","doi":"https://doi.org/10.1109/lra.2025.3553352","title":"SLC$^{2}$-SLAM: Semantic-Guided Loop Closure Using Shared Latent Code for NeRF SLAM","display_name":"SLC$^{2}$-SLAM: Semantic-Guided Loop Closure Using Shared Latent Code for NeRF SLAM","publication_year":2025,"publication_date":"2025-03-21","ids":{"openalex":"https://openalex.org/W4408715968","doi":"https://doi.org/10.1109/lra.2025.3553352"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3553352","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3553352","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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/A5067392418","display_name":"Yuhang Ming","orcid":"https://orcid.org/0000-0002-4548-6388"},"institutions":[{"id":"https://openalex.org/I50760025","display_name":"Hangzhou Dianzi University","ror":"https://ror.org/0576gt767","country_code":"CN","type":"education","lineage":["https://openalex.org/I50760025"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuhang Ming","raw_affiliation_strings":["School of Computer Science and Key Laboratory of Brain Machine Collaborative Intelligence of Zhejiang Province, Hangzhou Dianzi University, Hangzhou, China","School of Computer Science Key Laboratory of Brain Machine Collaborative Intelligence of Zhejiang Province, Hangzhou Dianzi University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-4548-6388","affiliations":[{"raw_affiliation_string":"School of Computer Science and Key Laboratory of Brain Machine Collaborative Intelligence of Zhejiang Province, Hangzhou Dianzi University, Hangzhou, China","institution_ids":["https://openalex.org/I50760025"]},{"raw_affiliation_string":"School of Computer Science Key Laboratory of Brain Machine Collaborative Intelligence of Zhejiang Province, Hangzhou Dianzi University, Hangzhou, China","institution_ids":["https://openalex.org/I50760025"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100557323","display_name":"Di Ma","orcid":"https://orcid.org/0009-0004-3341-6456"},"institutions":[{"id":"https://openalex.org/I50760025","display_name":"Hangzhou Dianzi University","ror":"https://ror.org/0576gt767","country_code":"CN","type":"education","lineage":["https://openalex.org/I50760025"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Di Ma","raw_affiliation_strings":["School of Computer Science and Key Laboratory of Brain Machine Collaborative Intelligence of Zhejiang Province, Hangzhou Dianzi University, Hangzhou, China","School of Computer Science Key Laboratory of Brain Machine Collaborative Intelligence of Zhejiang Province, Hangzhou Dianzi University, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science and Key Laboratory of Brain Machine Collaborative Intelligence of Zhejiang Province, Hangzhou Dianzi University, Hangzhou, China","institution_ids":["https://openalex.org/I50760025"]},{"raw_affiliation_string":"School of Computer Science Key Laboratory of Brain Machine Collaborative Intelligence of Zhejiang Province, Hangzhou Dianzi University, Hangzhou, China","institution_ids":["https://openalex.org/I50760025"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042276536","display_name":"Weichen Dai","orcid":"https://orcid.org/0000-0002-5019-2755"},"institutions":[{"id":"https://openalex.org/I50760025","display_name":"Hangzhou Dianzi University","ror":"https://ror.org/0576gt767","country_code":"CN","type":"education","lineage":["https://openalex.org/I50760025"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weichen Dai","raw_affiliation_strings":["School of Computer Science and Key Laboratory of Brain Machine Collaborative Intelligence of Zhejiang Province, Hangzhou Dianzi University, Hangzhou, China","School of Computer Science Key Laboratory of Brain Machine Collaborative Intelligence of Zhejiang Province, Hangzhou Dianzi University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-5019-2755","affiliations":[{"raw_affiliation_string":"School of Computer Science and Key Laboratory of Brain Machine Collaborative Intelligence of Zhejiang Province, Hangzhou Dianzi University, Hangzhou, China","institution_ids":["https://openalex.org/I50760025"]},{"raw_affiliation_string":"School of Computer Science Key Laboratory of Brain Machine Collaborative Intelligence of Zhejiang Province, Hangzhou Dianzi University, Hangzhou, China","institution_ids":["https://openalex.org/I50760025"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109696797","display_name":"Han Yang","orcid":null},"institutions":[{"id":"https://openalex.org/I50760025","display_name":"Hangzhou Dianzi University","ror":"https://ror.org/0576gt767","country_code":"CN","type":"education","lineage":["https://openalex.org/I50760025"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Han Yang","raw_affiliation_strings":["School of Computer Science and Key Laboratory of Brain Machine Collaborative Intelligence of Zhejiang Province, Hangzhou Dianzi University, Hangzhou, China","School of Computer Science Key Laboratory of Brain Machine Collaborative Intelligence of Zhejiang Province, Hangzhou Dianzi University, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science and Key Laboratory of Brain Machine Collaborative Intelligence of Zhejiang Province, Hangzhou Dianzi University, Hangzhou, China","institution_ids":["https://openalex.org/I50760025"]},{"raw_affiliation_string":"School of Computer Science Key Laboratory of Brain Machine Collaborative Intelligence of Zhejiang Province, Hangzhou Dianzi University, Hangzhou, China","institution_ids":["https://openalex.org/I50760025"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038867899","display_name":"Rui Fan","orcid":"https://orcid.org/0000-0003-2593-6596"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]},{"id":"https://openalex.org/I4210105785","display_name":"Intelligent Systems Research (United States)","ror":"https://ror.org/01reevc91","country_code":"US","type":"company","lineage":["https://openalex.org/I4210105785"]}],"countries":["CN","US"],"is_corresponding":false,"raw_author_name":"Rui Fan","raw_affiliation_strings":["College of Electronics and Information Engineering, Shanghai Institute of Intelligent Science and Technology, Shanghai Research Institute for Intelligent Autonomous Systems, the State Key Laboratory of Intelligent Autonomous Systems, Tongji University, Shanghai, China","College of Electronics & Information Engineering, Shanghai Institute of Intelligent Science and Technology, Shanghai Research Institute for Intelligent Autonomous Systems, the State Key Laboratory of Intelligent Autonomous Systems, and Frontiers Science Center for Intelligent Autonomous Systems, Tongji University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0003-2593-6596","affiliations":[{"raw_affiliation_string":"College of Electronics and Information Engineering, Shanghai Institute of Intelligent Science and Technology, Shanghai Research Institute for Intelligent Autonomous Systems, the State Key Laboratory of Intelligent Autonomous Systems, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I4210105785"]},{"raw_affiliation_string":"College of Electronics & Information Engineering, Shanghai Institute of Intelligent Science and Technology, Shanghai Research Institute for Intelligent Autonomous Systems, the State Key Laboratory of Intelligent Autonomous Systems, and Frontiers Science Center for Intelligent Autonomous Systems, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100693448","display_name":"Guofeng Zhang","orcid":"https://orcid.org/0000-0001-5661-8430"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guofeng Zhang","raw_affiliation_strings":["State Key Lab of CAD&CG, Zhejiang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0001-5661-8430","affiliations":[{"raw_affiliation_string":"State Key Lab of CAD&CG, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5003649465","display_name":"Wanzeng Kong","orcid":"https://orcid.org/0000-0002-0113-6968"},"institutions":[{"id":"https://openalex.org/I50760025","display_name":"Hangzhou Dianzi University","ror":"https://ror.org/0576gt767","country_code":"CN","type":"education","lineage":["https://openalex.org/I50760025"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wanzeng Kong","raw_affiliation_strings":["School of Computer Science and Key Laboratory of Brain Machine Collaborative Intelligence of Zhejiang Province, Hangzhou Dianzi University, Hangzhou, China","School of Computer Science Key Laboratory of Brain Machine Collaborative Intelligence of Zhejiang Province, Hangzhou Dianzi University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-0113-6968","affiliations":[{"raw_affiliation_string":"School of Computer Science and Key Laboratory of Brain Machine Collaborative Intelligence of Zhejiang Province, Hangzhou Dianzi University, Hangzhou, China","institution_ids":["https://openalex.org/I50760025"]},{"raw_affiliation_string":"School of Computer Science Key Laboratory of Brain Machine Collaborative Intelligence of Zhejiang Province, Hangzhou Dianzi University, Hangzhou, China","institution_ids":["https://openalex.org/I50760025"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":11.4619,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.97736242,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":98},"biblio":{"volume":"10","issue":"5","first_page":"4978","last_page":"4985"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11986","display_name":"Scientific Computing and Data Management","score":0.9890999794006348,"subfield":{"id":"https://openalex.org/subfields/1802","display_name":"Information Systems and Management"},"field":{"id":"https://openalex.org/fields/18","display_name":"Decision Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},"topics":[{"id":"https://openalex.org/T11986","display_name":"Scientific Computing and Data Management","score":0.9890999794006348,"subfield":{"id":"https://openalex.org/subfields/1802","display_name":"Information Systems and Management"},"field":{"id":"https://openalex.org/fields/18","display_name":"Decision Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9822999835014343,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9768999814987183,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/closure","display_name":"Closure (psychology)","score":0.7822049856185913},{"id":"https://openalex.org/keywords/loop","display_name":"Loop (graph theory)","score":0.536989688873291},{"id":"https://openalex.org/keywords/code","display_name":"Code (set theory)","score":0.535179078578949},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.502842366695404},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4234410524368286},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.4194610118865967},{"id":"https://openalex.org/keywords/natural-language-processing","display_name":"Natural language processing","score":0.3680928945541382},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1927875280380249},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.07279950380325317},{"id":"https://openalex.org/keywords/political-science","display_name":"Political science","score":0.07167449593544006},{"id":"https://openalex.org/keywords/law","display_name":"Law","score":0.06571125984191895}],"concepts":[{"id":"https://openalex.org/C146834321","wikidata":"https://www.wikidata.org/wiki/Q2979672","display_name":"Closure (psychology)","level":2,"score":0.7822049856185913},{"id":"https://openalex.org/C184670325","wikidata":"https://www.wikidata.org/wiki/Q512604","display_name":"Loop (graph theory)","level":2,"score":0.536989688873291},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.535179078578949},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.502842366695404},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4234410524368286},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.4194610118865967},{"id":"https://openalex.org/C204321447","wikidata":"https://www.wikidata.org/wiki/Q30642","display_name":"Natural language processing","level":1,"score":0.3680928945541382},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1927875280380249},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.07279950380325317},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.07167449593544006},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.06571125984191895},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3553352","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3553352","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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/10","score":0.5199999809265137,"display_name":"Reduced inequalities"}],"awards":[{"id":"https://openalex.org/G2676755664","display_name":null,"funder_award_id":"62401188","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8893963792","display_name":null,"funder_award_id":"62473288","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"},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":48,"referenced_works":["https://openalex.org/W1883517952","https://openalex.org/W1987648924","https://openalex.org/W2012592962","https://openalex.org/W2013270301","https://openalex.org/W2082312667","https://openalex.org/W2117228865","https://openalex.org/W2250172176","https://openalex.org/W2535547924","https://openalex.org/W2594519801","https://openalex.org/W2620629206","https://openalex.org/W3043971245","https://openalex.org/W3109585842","https://openalex.org/W3187914340","https://openalex.org/W4214768561","https://openalex.org/W4221148846","https://openalex.org/W4221151978","https://openalex.org/W4307783807","https://openalex.org/W4312268043","https://openalex.org/W4312878643","https://openalex.org/W4383109324","https://openalex.org/W4386066489","https://openalex.org/W4386066696","https://openalex.org/W4386075826","https://openalex.org/W4389335080","https://openalex.org/W4389819300","https://openalex.org/W4390224511","https://openalex.org/W4391936169","https://openalex.org/W4392903393","https://openalex.org/W4400645603","https://openalex.org/W4401413641","https://openalex.org/W4401415835","https://openalex.org/W4401417384","https://openalex.org/W4402389384","https://openalex.org/W4402660141","https://openalex.org/W4402698355","https://openalex.org/W4402727597","https://openalex.org/W4402754302","https://openalex.org/W4403770187","https://openalex.org/W4404875197","https://openalex.org/W6764040762","https://openalex.org/W6800540912","https://openalex.org/W6843089247","https://openalex.org/W6857849492","https://openalex.org/W6862878514","https://openalex.org/W6866311594","https://openalex.org/W6872810494","https://openalex.org/W6873297890","https://openalex.org/W6873933191"],"related_works":["https://openalex.org/W315394019","https://openalex.org/W24774503","https://openalex.org/W2923398117","https://openalex.org/W4309585848","https://openalex.org/W2265383332","https://openalex.org/W2014821076","https://openalex.org/W4328130279","https://openalex.org/W2105009749","https://openalex.org/W4299387245","https://openalex.org/W2765469179"],"abstract_inverted_index":{"Targeting":[0],"the":[1,59,69,75,83,89,96,114,118,123,144,157],"notorious":[2],"cumulative":[3],"drift":[4],"errors":[5],"in":[6,27,155,177],"NeRF":[7,29,159],"SLAM,":[8],"we":[9,47,73,100,128],"propose":[10,48],"a":[11,49,104,165],"Semantic-guided":[12],"Loop":[13],"Closure":[14],"using":[15,58],"Shared":[16],"Latent":[17],"Code,":[18],"dubbed":[19],"SLC$^{2}$-SLAM.":[20],"We":[21],"argue":[22],"that":[23],"latent":[24,61,85],"codes":[25,62,86],"stored":[26],"many":[28],"SLAM":[30,160],"systems":[31],"are":[32,38,79,153],"not":[33],"fully":[34],"exploited,":[35],"as":[36,63],"they":[37],"only":[39],"used":[40,154],"for":[41],"better":[42,171],"reconstruction.":[43],"In":[44],"this":[45],"letter,":[46],"simple":[50],"yet":[51],"effective":[52],"way":[53],"to":[54,87,111],"detect":[55],"potential":[56,97],"loops":[57,98],"same":[60,84],"local":[64,92],"features.":[65,93],"To":[66,121],"further":[67],"improve":[68],"loop":[70,140,162],"detection":[71],"performance,":[72,175],"use":[74],"semantic":[76],"information,":[77],"which":[78,152],"also":[80,169],"decoded":[81],"from":[82],"guide":[88],"aggregation":[90],"of":[91,125],"Finally,":[94],"with":[95,103,150,161,180],"detected,":[99],"close":[101],"them":[102],"graph":[105],"optimization":[106],"followed":[107],"by":[108],"bundle":[109],"adjustment":[110],"refine":[112],"both":[113],"estimated":[115],"poses":[116],"and":[117,134,147,173],"reconstructed":[119],"scene.":[120],"evaluate":[122],"performance":[124],"our":[126,167],"SLC$^{2}$-SLAM,":[127],"conduct":[129],"extensive":[130],"experiments":[131],"on":[132],"Replica":[133],"ScanNet":[135],"datasets.":[136],"Our":[137],"proposed":[138],"semantic-guided":[139],"closure":[141],"significantly":[142],"outperforms":[143],"pre-trained":[145],"NetVLAD":[146],"ORB":[148],"combined":[149],"Bag-of-Words,":[151],"all":[156],"other":[158],"closure.":[163],"As":[164],"result,":[166],"SLC$^{2}$-SLAM":[168],"demonstrated":[170],"tracking":[172],"reconstruction":[174],"especially":[176],"larger":[178],"scenes":[179],"more":[181],"loops,":[182],"like":[183],"ScanNet.":[184]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":3}],"updated_date":"2026-07-29T09:40:50.615796","created_date":"2025-10-10T00:00:00"}