{"id":"https://openalex.org/W7124137925","doi":"https://doi.org/10.1109/lra.2026.3653380","title":"AING-SLAM: Accurate Implicit Neural Geometry-Aware SLAM With Appearance and Semantics via History-Guided Optimization","display_name":"AING-SLAM: Accurate Implicit Neural Geometry-Aware SLAM With Appearance and Semantics via History-Guided Optimization","publication_year":2026,"publication_date":"2026-01-14","ids":{"openalex":"https://openalex.org/W7124137925","doi":"https://doi.org/10.1109/lra.2026.3653380"},"language":null,"primary_location":{"id":"doi:10.1109/lra.2026.3653380","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3653380","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/A5024189689","display_name":"Yanan Hao","orcid":null},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanan Hao","raw_affiliation_strings":["State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0009-0000-9304-8086","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5123034020","display_name":"Chenhui Shi","orcid":null},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chenhui Shi","raw_affiliation_strings":["State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0009-0002-3646-8935","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5123052120","display_name":"Pengju Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Pengju Zhang","raw_affiliation_strings":["State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-8245-0205","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006625202","display_name":"Fulin Tang","orcid":"https://orcid.org/0000-0002-8474-2671"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fulin Tang","raw_affiliation_strings":["State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-8474-2671","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}]},{"author_position":"last","author":{"id":null,"display_name":"Yihong Wu","orcid":"https://orcid.org/0000-0003-2198-9113"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yihong Wu","raw_affiliation_strings":["State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-2198-9113","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.05456477,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"11","issue":"3","first_page":"2594","last_page":"2601"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9714999794960022,"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":0.9714999794960022,"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/T10868","display_name":"Soft Robotics and Applications","score":0.0035000001080334187,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10719","display_name":"3D Shape Modeling and Analysis","score":0.0031999999191612005,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/semantics","display_name":"Semantics (computer science)","score":0.6499000191688538},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.6453999876976013},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.5753999948501587},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.5206000208854675},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.4632999897003174},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.4537000060081482},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.4510999917984009},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.4348999857902527},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.4203000068664551}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7386000156402588},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7192000150680542},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6789000034332275},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.6499000191688538},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6453999876976013},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.5753999948501587},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.5206000208854675},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.4632999897003174},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.4537000060081482},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.4510999917984009},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.4348999857902527},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.4203000068664551},{"id":"https://openalex.org/C2775955345","wikidata":"https://www.wikidata.org/wiki/Q7449071","display_name":"Semantic mapping","level":2,"score":0.4171000123023987},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.382099986076355},{"id":"https://openalex.org/C195958017","wikidata":"https://www.wikidata.org/wiki/Q1675268","display_name":"Iterative closest point","level":3,"score":0.34150001406669617},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.3375999927520752},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.32499998807907104},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.31049999594688416},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2985000014305115},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.2635999917984009},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.26350000500679016},{"id":"https://openalex.org/C141379421","wikidata":"https://www.wikidata.org/wiki/Q6094427","display_name":"Iterative reconstruction","level":2,"score":0.259799987077713},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.2572000026702881},{"id":"https://openalex.org/C115051666","wikidata":"https://www.wikidata.org/wiki/Q6522493","display_name":"Ranging","level":2,"score":0.25609999895095825}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2026.3653380","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3653380","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":[],"awards":[{"id":"https://openalex.org/G1038504587","display_name":null,"funder_award_id":"62572468","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5677254902","display_name":null,"funder_award_id":"L241012","funder_id":"https://openalex.org/F4320322919","funder_display_name":"Natural Science Foundation of Beijing Municipality"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320322919","display_name":"Natural Science Foundation of Beijing Municipality","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1512698229","https://openalex.org/W1987648924","https://openalex.org/W2296228853","https://openalex.org/W2805521962","https://openalex.org/W2909908358","https://openalex.org/W2963677766","https://openalex.org/W2991216808","https://openalex.org/W3003437478","https://openalex.org/W3003991701","https://openalex.org/W4312878643","https://openalex.org/W4315778466","https://openalex.org/W4386066489","https://openalex.org/W4386066696","https://openalex.org/W4386412305","https://openalex.org/W4390873060","https://openalex.org/W4400228262","https://openalex.org/W4402698355","https://openalex.org/W4402698358","https://openalex.org/W4402727597","https://openalex.org/W4403770187","https://openalex.org/W4403791360","https://openalex.org/W4405757602","https://openalex.org/W4407449550","https://openalex.org/W4410226528","https://openalex.org/W4413147312"],"related_works":[],"abstract_inverted_index":{"In":[0],"range-based":[1],"SLAM":[2,91],"systems,":[3],"localization":[4,196],"accuracy":[5],"depends":[6],"on":[7,185],"the":[8],"quality":[9],"of":[10],"geometric":[11,70,181],"maps.":[12],"Sparse":[13],"LiDAR":[14,190],"scans":[15],"and":[16,33,41,61,96,105,120,143,152,176,188,198],"noisy":[17],"depth":[18],"from":[19,38],"RGB-D":[20,187],"sensors":[21],"often":[22],"yield":[23],"incomplete":[24],"or":[25,59,131],"inaccurate":[26],"reconstructions":[27],"that":[28,93],"degrade":[29],"pose":[30,135],"estimation.":[31],"Appearance":[32],"semantic":[34,64,144],"cues,":[35],"readily":[36],"available":[37],"onboard":[39],"RGB":[40],"pretrained":[42],"models,":[43],"can":[44,68],"serve":[45],"as":[46,75],"complementary":[47],"signals":[48],"to":[49,57,98,125],"strengthen":[50,100],"geometry.":[51],"Nevertheless,":[52],"variations":[53],"in":[54,63,102,129],"appearance":[55,95,119],"due":[56],"illumination":[58],"texture":[60],"inconsistencies":[62,172],"labels":[65],"across":[66,201],"frames":[67],"hinder":[69],"optimization":[71,168],"if":[72],"directly":[73],"used":[74],"supervision.":[76],"To":[77,155],"address":[78],"these":[79],"challenges,":[80],"we":[81],"propose":[82],"<bold":[83],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[84],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">AING-SLAM</b>,":[85],"an":[86],"Accurate":[87],"Implicit":[88],"Neural":[89],"Geometry-aware":[90],"framework":[92],"allows":[94],"semantics":[97],"effectively":[99],"geometry":[101,127],"both":[103],"mapping":[104],"odometry.":[106],"A":[107],"unified":[108],"neural":[109],"point":[110],"representation":[111],"with":[112,146,166],"a":[113,158],"lightweight":[114],"cross-modal":[115],"decoder":[116],"integrates":[117],"geometry,":[118],"semantics,":[121],"enabling":[122],"auxiliary":[123],"cues":[124,175],"refine":[126],"even":[128],"sparse":[130],"ambiguous":[132],"regions.":[133],"For":[134],"tracking,":[136],"appearance-semantic-aided":[137],"odometry":[138],"jointly":[139],"minimizes":[140],"SDF,":[141],"appearance,":[142],"residuals":[145],"adaptive":[147],"weighting,":[148],"improving":[149],"scan-to-map":[150],"alignment":[151],"reducing":[153],"drift.":[154],"safeguard":[156],"stability,":[157],"history-guided":[159],"gradient":[160],"fusion":[161],"strategy":[162],"aligns":[163],"instantaneous":[164],"updates":[165],"long-term":[167],"trends,":[169],"mitigating":[170],"occasional":[171],"between":[173],"appearance/semantic":[174],"SDF-based":[177],"supervision,":[178],"thereby":[179],"strengthening":[180],"optimization.":[182],"Extensive":[183],"experiments":[184],"indoor":[186],"outdoor":[189],"benchmarks":[191],"demonstrate":[192],"real-time":[193],"performance,":[194],"state-of-the-art":[195],"accuracy,":[197],"high-fidelity":[199],"reconstruction":[200],"diverse":[202],"environments.":[203]},"counts_by_year":[],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2026-01-15T00:00:00"}