{"id":"https://openalex.org/W7164929958","doi":"https://doi.org/10.1109/lra.2026.3703990","title":"Latent Gaussian Splatting for 4D Panoptic Occupancy Tracking","display_name":"Latent Gaussian Splatting for 4D Panoptic Occupancy Tracking","publication_year":2026,"publication_date":"2026-06-16","ids":{"openalex":"https://openalex.org/W7164929958","doi":"https://doi.org/10.1109/lra.2026.3703990"},"language":null,"primary_location":{"id":"doi:10.1109/lra.2026.3703990","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3703990","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":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2602.23172","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5085701469","display_name":"Maximilian Luz","orcid":"https://orcid.org/0000-0002-1123-6604"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Maximilian Luz","raw_affiliation_strings":["Department of Computer Science, University of Freiburg, Freiburg, Germany"],"raw_orcid":"https://orcid.org/0000-0002-1123-6604","affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Freiburg, Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057076519","display_name":"Rohit Mohan","orcid":"https://orcid.org/0000-0002-5067-4279"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Rohit Mohan","raw_affiliation_strings":["Department of Computer Science, University of Freiburg, Freiburg, Germany"],"raw_orcid":"https://orcid.org/0000-0002-5067-4279","affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Freiburg, Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064152637","display_name":"Thomas N\u00fcrnberg","orcid":null},"institutions":[{"id":"https://openalex.org/I889804353","display_name":"Robert Bosch (Germany)","ror":"https://ror.org/01fe0jt45","country_code":"DE","type":"company","lineage":["https://openalex.org/I889804353"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Thomas N\u00fcrnberg","raw_affiliation_strings":["Bosch Research, Robert Bosch GmbH, Renningen, Germany"],"raw_orcid":"https://orcid.org/0009-0005-7052-041X","affiliations":[{"raw_affiliation_string":"Bosch Research, Robert Bosch GmbH, Renningen, Germany","institution_ids":["https://openalex.org/I889804353"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090463628","display_name":"Yakov Miron","orcid":"https://orcid.org/0000-0002-2582-5098"},"institutions":[{"id":"https://openalex.org/I889804353","display_name":"Robert Bosch (Germany)","ror":"https://ror.org/01fe0jt45","country_code":"DE","type":"company","lineage":["https://openalex.org/I889804353"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Yakov Miron","raw_affiliation_strings":["Bosch Research, Robert Bosch GmbH, Renningen, Germany"],"raw_orcid":"https://orcid.org/0000-0002-2582-5098","affiliations":[{"raw_affiliation_string":"Bosch Research, Robert Bosch GmbH, Renningen, Germany","institution_ids":["https://openalex.org/I889804353"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078238515","display_name":"Daniele Cattaneo","orcid":"https://orcid.org/0000-0001-6662-5810"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Daniele Cattaneo","raw_affiliation_strings":["Department of Computer Science, University of Freiburg, Freiburg, Germany"],"raw_orcid":"https://orcid.org/0000-0001-6662-5810","affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Freiburg, Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5039639553","display_name":"Abhinav Valada","orcid":"https://orcid.org/0000-0003-4710-3114"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Abhinav Valada","raw_affiliation_strings":["Department of Computer Science, University of Freiburg, Freiburg, Germany"],"raw_orcid":"https://orcid.org/0000-0003-4710-3114","affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Freiburg, Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]}]}],"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":0.6949515,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"11","issue":"8","first_page":"9223","last_page":"9230"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.6256999969482422,"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"}},"topics":[{"id":"https://openalex.org/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.6256999969482422,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.06650000065565109,"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/T12814","display_name":"Gaussian Processes and Bayesian Inference","score":0.03530000150203705,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/tracking","display_name":"Tracking (education)","score":0.5753999948501587},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.43869999051094055},{"id":"https://openalex.org/keywords/panopticon","display_name":"Panopticon","score":0.38929998874664307},{"id":"https://openalex.org/keywords/occupancy","display_name":"Occupancy","score":0.35600000619888306},{"id":"https://openalex.org/keywords/gaussian-process","display_name":"Gaussian process","score":0.3352000117301941},{"id":"https://openalex.org/keywords/mixture-model","display_name":"Mixture model","score":0.33070001006126404},{"id":"https://openalex.org/keywords/tracking-system","display_name":"Tracking system","score":0.32420000433921814},{"id":"https://openalex.org/keywords/bayesian-probability","display_name":"Bayesian probability","score":0.29330000281333923}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6912000179290771},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6071000099182129},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5860000252723694},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5753999948501587},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.43869999051094055},{"id":"https://openalex.org/C138569888","wikidata":"https://www.wikidata.org/wiki/Q828310","display_name":"Panopticon","level":3,"score":0.38929998874664307},{"id":"https://openalex.org/C160331591","wikidata":"https://www.wikidata.org/wiki/Q7075743","display_name":"Occupancy","level":2,"score":0.35600000619888306},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.3352000117301941},{"id":"https://openalex.org/C61224824","wikidata":"https://www.wikidata.org/wiki/Q2260434","display_name":"Mixture model","level":2,"score":0.33070001006126404},{"id":"https://openalex.org/C154586513","wikidata":"https://www.wikidata.org/wiki/Q4420972","display_name":"Tracking system","level":3,"score":0.32420000433921814},{"id":"https://openalex.org/C107673813","wikidata":"https://www.wikidata.org/wiki/Q812534","display_name":"Bayesian probability","level":2,"score":0.29330000281333923},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.2854999899864197},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.2840000092983246},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.2759999930858612},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.27140000462532043},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.26989999413490295},{"id":"https://openalex.org/C94915269","wikidata":"https://www.wikidata.org/wiki/Q1834857","display_name":"Detector","level":2,"score":0.2655999958515167},{"id":"https://openalex.org/C2777113093","wikidata":"https://www.wikidata.org/wiki/Q221488","display_name":"Pedestrian","level":2,"score":0.26089999079704285},{"id":"https://openalex.org/C114289077","wikidata":"https://www.wikidata.org/wiki/Q3284399","display_name":"Statistical model","level":2,"score":0.2597000002861023},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.25839999318122864}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2026.3703990","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3703990","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"},{"id":"pmh:oai:arXiv.org:2602.23172","is_oa":true,"landing_page_url":"https://arxiv.org/abs/2602.23172","pdf_url":"https://arxiv.org/pdf/2602.23172","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2602.23172","is_oa":true,"landing_page_url":"https://arxiv.org/abs/2602.23172","pdf_url":"https://arxiv.org/pdf/2602.23172","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/13","display_name":"Climate action","score":0.5347635746002197}],"awards":[{"id":"https://openalex.org/G2320638626","display_name":"Deep Learning Rechencluster (Teilfinanzierung)","funder_award_id":"539134284","funder_id":"https://openalex.org/F4320320879","funder_display_name":"Deutsche Forschungsgemeinschaft"},{"id":"https://openalex.org/G3035371308","display_name":null,"funder_award_id":"FEIH_2698644","funder_id":"https://openalex.org/F4320335322","funder_display_name":"European Regional Development Fund"}],"funders":[{"id":"https://openalex.org/F4320320879","display_name":"Deutsche Forschungsgemeinschaft","ror":"https://ror.org/018mejw64"},{"id":"https://openalex.org/F4320335322","display_name":"European Regional Development Fund","ror":"https://ror.org/00k4n6c32"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Capturing":[0],"4D":[1,60],"spatiotemporal":[2],"scene":[3],"structure":[4],"is":[5],"crucial":[6],"for":[7,59,103,159],"the":[8,26,67],"safe":[9],"and":[10,47,70,113,124,154,164],"reliable":[11],"operation":[12],"of":[13,25,78,93],"robots":[14],"in":[15],"dynamic":[16],"environments.":[17],"However,":[18],"existing":[19],"approaches":[20],"typically":[21],"address":[22],"only":[23],"part":[24],"problem:":[27],"they":[28],"either":[29],"provide":[30,162],"coarse":[31,141],"geometric":[32],"tracking":[33],"via":[34],"bounding":[35],"boxes":[36],"or":[37],"detailed":[38],"3D":[39,72],"occupancy":[40],"estimates":[41],"that":[42,87,117],"lack":[43],"explicit":[44],"temporal":[45],"association":[46],"instance-level":[48],"reasoning.":[49],"In":[50],"this":[51],"work,":[52],"we":[53],"present":[54],"Latent":[55],"Gaussian":[56,130],"Splatting":[57],"(LaGS)":[58],"Panoptic":[61],"Occupancy":[62],"Tracking":[63],"(4D-POT).":[64],"We":[65,161],"revisit":[66],"underlying":[68],"representation":[69,131],"model":[71],"features":[73,95],"as":[74,83],"a":[75,100],"sparse":[76],"set":[77],"feature-bearing":[79],"Gaussians.":[80],"These":[81],"act":[82],"dynamic,":[84],"volume-oriented":[85],"keypoints":[86],"enable":[88],"spatially":[89],"continuous,":[90],"distance-weighted":[91],"aggregation":[92],"multi-view":[94],"before":[96],"being":[97],"splatted":[98],"into":[99],"voxel":[101],"grid":[102],"decoding.":[104],"This":[105],"point-centric":[106],"formulation":[107],"enables":[108,133],"flexible,":[109],"data-dependent":[110],"receptive":[111],"fields":[112],"long-range":[114],"spatial":[115],"interactions":[116],"are":[118],"difficult":[119],"to":[120],"capture":[121],"with":[122,143],"local":[123],"dense":[125],"voxel-based":[126],"operators.":[127],"A":[128],"hierarchical":[129],"further":[132],"multi-scale":[134],"reasoning":[135],"by":[136],"combining":[137],"global":[138],"context":[139],"from":[140,146],"super-points":[142],"fine-grained":[144],"detail":[145],"higher-resolution":[147],"streams.":[148],"Extensive":[149],"experiments":[150],"on":[151],"Occ3D":[152],"nuScenes":[153],"Waymo":[155],"demonstrate":[156],"state-of-the-art":[157],"performance":[158],"4D-POT.":[160],"code":[163],"models":[165],"at":[166],"https://lags.cs.uni-freiburg.de/.":[167]},"counts_by_year":[],"updated_date":"2026-08-05T07:39:15.569665","created_date":"2026-06-17T00:00:00"}