{"id":"https://openalex.org/W4412610841","doi":"https://doi.org/10.1109/lra.2025.3592066","title":"GSORB-SLAM: Gaussian Splatting SLAM Benefits From ORB Features and Transmittance Information","display_name":"GSORB-SLAM: Gaussian Splatting SLAM Benefits From ORB Features and Transmittance Information","publication_year":2025,"publication_date":"2025-07-23","ids":{"openalex":"https://openalex.org/W4412610841","doi":"https://doi.org/10.1109/lra.2025.3592066"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3592066","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3592066","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/A5078843343","display_name":"Wancai Zheng","orcid":"https://orcid.org/0009-0005-2161-0806"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wancai Zheng","raw_affiliation_strings":["College of Information Engineering, Zhejiang University of Technology, Hangzhou, China"],"raw_orcid":"https://orcid.org/0009-0005-2161-0806","affiliations":[{"raw_affiliation_string":"College of Information Engineering, Zhejiang University of Technology, Hangzhou, China","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Xinyi Yu","orcid":"https://orcid.org/0000-0001-8716-7687"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinyi Yu","raw_affiliation_strings":["College of Information Engineering, Zhejiang University of Technology, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0001-8716-7687","affiliations":[{"raw_affiliation_string":"College of Information Engineering, Zhejiang University of Technology, Hangzhou, China","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049686021","display_name":"Jintao Rong","orcid":null},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jintao Rong","raw_affiliation_strings":["College of Information Engineering, Zhejiang University of Technology, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Information Engineering, Zhejiang University of Technology, Hangzhou, China","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101893353","display_name":"Linlin Ou","orcid":"https://orcid.org/0000-0002-8589-9961"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Linlin Ou","raw_affiliation_strings":["College of Information Engineering, Zhejiang University of Technology, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-8589-9961","affiliations":[{"raw_affiliation_string":"College of Information Engineering, Zhejiang University of Technology, Hangzhou, China","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Yan Wei","orcid":"https://orcid.org/0000-0002-9818-8034"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yan Wei","raw_affiliation_strings":["College of Information Engineering, Zhejiang University of Technology, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-9818-8034","affiliations":[{"raw_affiliation_string":"College of Information Engineering, Zhejiang University of Technology, Hangzhou, China","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5018105722","display_name":"Libo Zhou","orcid":"https://orcid.org/0000-0002-4784-7378"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Libo Zhou","raw_affiliation_strings":["College of Information Engineering, Zhejiang University of Technology, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-4784-7378","affiliations":[{"raw_affiliation_string":"College of Information Engineering, Zhejiang University of Technology, Hangzhou, China","institution_ids":["https://openalex.org/I55712492"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I55712492"],"apc_list":null,"apc_paid":null,"fwci":18.486,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.98833676,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":"10","issue":"9","first_page":"9400","last_page":"9407"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9986000061035156,"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":0.9986000061035156,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9950000047683716,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T11701","display_name":"Space Satellite Systems and Control","score":0.9936000108718872,"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/orb","display_name":"Orb (optics)","score":0.7754011154174805},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6842426061630249},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5145982503890991},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4939618706703186},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.4565323293209076},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.43501484394073486},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.23093906044960022},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.10979187488555908},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10360884666442871},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.07410851120948792}],"concepts":[{"id":"https://openalex.org/C108260229","wikidata":"https://www.wikidata.org/wiki/Q47023","display_name":"Orb (optics)","level":3,"score":0.7754011154174805},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6842426061630249},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5145982503890991},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4939618706703186},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.4565323293209076},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.43501484394073486},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.23093906044960022},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.10979187488555908},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10360884666442871},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.07410851120948792},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3592066","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3592066","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/G2049529062","display_name":null,"funder_award_id":"62373329","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6834820969","display_name":null,"funder_award_id":"LZ25F030003","funder_id":"https://openalex.org/F4320338464","funder_display_name":"Natural Science Foundation of Zhejiang Province"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320338464","display_name":"Natural Science Foundation of Zhejiang Province","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":45,"referenced_works":["https://openalex.org/W612478963","https://openalex.org/W1612997784","https://openalex.org/W1965851203","https://openalex.org/W1987648924","https://openalex.org/W2021851106","https://openalex.org/W2133665775","https://openalex.org/W2152671441","https://openalex.org/W2153054365","https://openalex.org/W2250172176","https://openalex.org/W2535547924","https://openalex.org/W2594519801","https://openalex.org/W2892904655","https://openalex.org/W2962870331","https://openalex.org/W2963200201","https://openalex.org/W2963562098","https://openalex.org/W2968879799","https://openalex.org/W3043971245","https://openalex.org/W4200150166","https://openalex.org/W4207072548","https://openalex.org/W4214768561","https://openalex.org/W4312878643","https://openalex.org/W4364383465","https://openalex.org/W4381572352","https://openalex.org/W4383109324","https://openalex.org/W4385318467","https://openalex.org/W4386066489","https://openalex.org/W4386066696","https://openalex.org/W4393248012","https://openalex.org/W4399574574","https://openalex.org/W4400581064","https://openalex.org/W4402698355","https://openalex.org/W4402698358","https://openalex.org/W4402716305","https://openalex.org/W4402727865","https://openalex.org/W4403705798","https://openalex.org/W4403770187","https://openalex.org/W4403779097","https://openalex.org/W4405786079","https://openalex.org/W6764040762","https://openalex.org/W6859420919","https://openalex.org/W6861879152","https://openalex.org/W6861891991","https://openalex.org/W6867104155","https://openalex.org/W6868850182","https://openalex.org/W6872810494"],"related_works":["https://openalex.org/W2905458575","https://openalex.org/W2573918384","https://openalex.org/W2809055700","https://openalex.org/W2990775658","https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W3192389065","https://openalex.org/W2755342338","https://openalex.org/W2166024367"],"abstract_inverted_index":{"The":[0,147],"emergence":[1],"of":[2,13,32,38,67],"3D":[3],"Gaussian":[4,96],"Splatting":[5],"(3DGS)":[6],"has":[7],"recently":[8],"ignited":[9],"a":[10,47,58,73,115],"renewed":[11],"wave":[12],"research":[14],"in":[15,140],"dense":[16,48],"visual":[17],"SLAM.":[18],"However,":[19],"existing":[20],"approaches":[21],"encounter":[22],"challenges,":[23],"including":[24],"sensitivity":[25],"to":[26],"artifacts":[27],"and":[28,35,69,77,87,98,125,144],"noise,":[29],"suboptimal":[30],"selection":[31,119],"training":[33],"viewpoints,":[34],"the":[36,65],"absence":[37],"global":[39],"optimization.":[40],"In":[41],"this":[42],"paper,":[43],"we":[44,71,92,113],"propose":[45,72],"GSORB-SLAM,":[46],"SLAM":[49],"framework":[50],"that":[51,101,121,134],"integrates":[52],"3DGS":[53],"with":[54],"ORB":[55],"features":[56],"through":[57],"tightly":[59],"coupled":[60],"optimization":[61,78],"pipeline.":[62],"To":[63],"mitigate":[64],"effects":[66],"noise":[68],"artifacts,":[70],"novel":[74],"geometric":[75],"representation":[76],"method":[79,100],"for":[80],"tracking,":[81],"which":[82],"significantly":[83],"enhances":[84],"localization":[85],"accuracy":[86],"robustness.":[88],"For":[89],"high-fidelity":[90],"mapping,":[91],"develop":[93],"an":[94],"adaptive":[95],"expansion":[97],"regularization":[99],"facilitates":[102],"compact":[103],"yet":[104],"expressive":[105],"scene":[106],"modeling":[107],"while":[108],"suppressing":[109],"redundant":[110],"primitives.":[111],"Furthermore,":[112],"design":[114],"hybrid":[116],"graph-based":[117],"viewpoint":[118],"mechanism":[120],"effectively":[122],"reduces":[123],"overfitting":[124],"accelerates":[126],"convergence.":[127],"Extensive":[128],"evaluations":[129],"across":[130],"various":[131],"datasets":[132],"demonstrate":[133],"our":[135],"system":[136],"achieves":[137],"state-of-the-art":[138],"performance":[139],"both":[141],"tracking":[142],"precision":[143],"rendering":[145],"quality.":[146],"Project":[148],"Page:":[149],"<uri":[150],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[151],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">https://aczheng-cai.github.io/gsorb-slam.github.io/</uri>":[152]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":1}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}
