{"id":"https://openalex.org/W7131111290","doi":"https://doi.org/10.1109/robio66223.2025.11376307","title":"RIG-SLAM: Robust IMU-Assisted Tracking in Gaussian Splatting SLAM for Indoor Environments","display_name":"RIG-SLAM: Robust IMU-Assisted Tracking in Gaussian Splatting SLAM for Indoor Environments","publication_year":2025,"publication_date":"2025-12-03","ids":{"openalex":"https://openalex.org/W7131111290","doi":"https://doi.org/10.1109/robio66223.2025.11376307"},"language":null,"primary_location":{"id":"doi:10.1109/robio66223.2025.11376307","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio66223.2025.11376307","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5074413787","display_name":"Mingzhe Lyu","orcid":"https://orcid.org/0009-0009-0809-4885"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mingzhe Lyu","raw_affiliation_strings":["Southern University of Science and Technology,Shenzhen Key Laboratory of Robotics and Computer Vision,Shenzhen,China,518055"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Southern University of Science and Technology,Shenzhen Key Laboratory of Robotics and Computer Vision,Shenzhen,China,518055","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5126599668","display_name":"Hong Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hong Zhang","raw_affiliation_strings":["Southern University of Science and Technology,Shenzhen Key Laboratory of Robotics and Computer Vision,Shenzhen,China,518055"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Southern University of Science and Technology,Shenzhen Key Laboratory of Robotics and Computer Vision,Shenzhen,China,518055","institution_ids":["https://openalex.org/I3045169105"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I3045169105"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"242","last_page":"249"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9297999739646912,"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":0.9297999739646912,"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/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.017999999225139618,"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"}},{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.007600000128149986,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.694599986076355},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5412999987602234},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.44769999384880066},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4244000017642975},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4011000096797943},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.39500001072883606},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3682999908924103},{"id":"https://openalex.org/keywords/gaussian-process","display_name":"Gaussian process","score":0.334199994802475}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7972000241279602},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7950000166893005},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7771000266075134},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.694599986076355},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5412999987602234},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.44769999384880066},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4244000017642975},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4011000096797943},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.39500001072883606},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3682999908924103},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.334199994802475},{"id":"https://openalex.org/C61224824","wikidata":"https://www.wikidata.org/wiki/Q2260434","display_name":"Mixture model","level":2,"score":0.32839998602867126},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.30070000886917114},{"id":"https://openalex.org/C10161872","wikidata":"https://www.wikidata.org/wiki/Q557891","display_name":"Motion estimation","level":2,"score":0.2939000129699707},{"id":"https://openalex.org/C2987571089","wikidata":"https://www.wikidata.org/wiki/Q738160","display_name":"Multi camera","level":2,"score":0.2935999929904938},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.2854999899864197},{"id":"https://openalex.org/C95020103","wikidata":"https://www.wikidata.org/wiki/Q1813492","display_name":"Match moving","level":3,"score":0.2759000062942505},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.26820001006126404},{"id":"https://openalex.org/C48007421","wikidata":"https://www.wikidata.org/wiki/Q676252","display_name":"Motion capture","level":3,"score":0.26669999957084656},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.2529999911785126},{"id":"https://openalex.org/C52421305","wikidata":"https://www.wikidata.org/wiki/Q1151499","display_name":"Particle filter","level":3,"score":0.2502000033855438}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio66223.2025.11376307","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio66223.2025.11376307","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G6980482064","display_name":null,"funder_award_id":"SGDX20240115111759002","funder_id":"https://openalex.org/F4320336569","funder_display_name":"Shenzhen Science and Technology Innovation Program"}],"funders":[{"id":"https://openalex.org/F4320336569","display_name":"Shenzhen Science and Technology Innovation Program","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W2021851106","https://openalex.org/W2056358962","https://openalex.org/W2091790851","https://openalex.org/W2118223742","https://openalex.org/W2538522345","https://openalex.org/W2594519801","https://openalex.org/W2745859992","https://openalex.org/W2945772959","https://openalex.org/W2951730755","https://openalex.org/W2962987986","https://openalex.org/W3043971245","https://openalex.org/W3109585842","https://openalex.org/W4307783807","https://openalex.org/W4383109324","https://openalex.org/W4385318467","https://openalex.org/W4386066696","https://openalex.org/W4390872919","https://openalex.org/W4400645603","https://openalex.org/W4402698355","https://openalex.org/W4402727865","https://openalex.org/W4405784946","https://openalex.org/W7083026699"],"related_works":[],"abstract_inverted_index":{"NeRF/3D":[0],"Gaussian":[1,40],"Splatting":[2,41],"(3DGS)":[3],"SLAM":[4,42],"systems":[5],"offer":[6],"high-fidelity":[7],"mapping":[8],"in":[9],"diverse":[10],"environments":[11],"but":[12],"remain":[13],"vulnerable":[14],"to":[15,75],"tracking":[16],"degradation":[17],"under":[18],"rapid":[19],"camera":[20,62],"motion":[21,63,78],"and":[22,30,48,80,100,109],"drastic":[23],"lighting":[24],"changes.":[25],"To":[26],"address":[27],"such":[28],"challenges,":[29],"inspired":[31],"by":[32],"traditional":[33],"visual\u2013inertial":[34],"fusion":[35],"SLAM,":[36],"we":[37],"design":[38],"a":[39,98],"framework":[43],"that":[44,90],"tightly":[45],"integrates":[46],"visual":[47,72],"IMU":[49,57],"data.":[50],"By":[51],"incorporating":[52],"the":[53,60,69],"short-term":[54],"precision":[55],"of":[56,71],"measurements":[58],"into":[59],"constantvelocity":[61],"model,":[64],"our":[65,91],"approach":[66],"compensates":[67],"for":[68,106],"weaknesses":[70],"tracking,":[73],"leading":[74],"more":[76],"accurate":[77],"estimation":[79],"improved":[81],"robustness.":[82],"Experimental":[83],"results":[84],"on":[85],"challenging":[86],"indoor":[87],"datasets":[88],"demonstrate":[89],"method":[92],"achieves":[93],"competitive":[94],"performance":[95],"while":[96],"maintaining":[97],"lightweight":[99],"efficient":[101],"design,":[102],"making":[103],"it":[104],"suitable":[105],"mobile":[107],"robotics":[108],"AR/VR":[110],"applications.":[111]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2026-02-24T00:00:00"}