{"id":"https://openalex.org/W4309345265","doi":"https://doi.org/10.1109/smc53654.2022.9945381","title":"MeSLAM: Memory Efficient SLAM based on Neural Fields","display_name":"MeSLAM: Memory Efficient SLAM based on Neural Fields","publication_year":2022,"publication_date":"2022-10-09","ids":{"openalex":"https://openalex.org/W4309345265","doi":"https://doi.org/10.1109/smc53654.2022.9945381"},"language":"en","primary_location":{"id":"doi:10.1109/smc53654.2022.9945381","is_oa":false,"landing_page_url":"https://doi.org/10.1109/smc53654.2022.9945381","pdf_url":null,"source":{"id":"https://openalex.org/S4363607746","display_name":"2022 IEEE International Conference on Systems, Man, and Cybernetics (SMC)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE International Conference on Systems, Man, and Cybernetics (SMC)","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/A5017862276","display_name":"Evgenii Kruzhkov","orcid":null},"institutions":[{"id":"https://openalex.org/I125989756","display_name":"Skolkovo Institute of Science and Technology","ror":"https://ror.org/03f9nc143","country_code":"RU","type":"education","lineage":["https://openalex.org/I125989756"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Evgenii Kruzhkov","raw_affiliation_strings":["Skolkovo Institute of Science and Technology,ISR Laboratory,Moscow,Russia","ISR Laboratory, Skolkovo Institute of Science and Technology, Moscow, Russia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Skolkovo Institute of Science and Technology,ISR Laboratory,Moscow,Russia","institution_ids":["https://openalex.org/I125989756"]},{"raw_affiliation_string":"ISR Laboratory, Skolkovo Institute of Science and Technology, Moscow, Russia","institution_ids":["https://openalex.org/I125989756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072936940","display_name":"Alena Savinykh","orcid":null},"institutions":[{"id":"https://openalex.org/I125989756","display_name":"Skolkovo Institute of Science and Technology","ror":"https://ror.org/03f9nc143","country_code":"RU","type":"education","lineage":["https://openalex.org/I125989756"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Alena Savinykh","raw_affiliation_strings":["Skolkovo Institute of Science and Technology,ISR Laboratory,Moscow,Russia","ISR Laboratory, Skolkovo Institute of Science and Technology, Moscow, Russia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Skolkovo Institute of Science and Technology,ISR Laboratory,Moscow,Russia","institution_ids":["https://openalex.org/I125989756"]},{"raw_affiliation_string":"ISR Laboratory, Skolkovo Institute of Science and Technology, Moscow, Russia","institution_ids":["https://openalex.org/I125989756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012574152","display_name":"Pavel Karpyshev","orcid":"https://orcid.org/0000-0003-1573-3197"},"institutions":[{"id":"https://openalex.org/I125989756","display_name":"Skolkovo Institute of Science and Technology","ror":"https://ror.org/03f9nc143","country_code":"RU","type":"education","lineage":["https://openalex.org/I125989756"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Pavel Karpyshev","raw_affiliation_strings":["Skolkovo Institute of Science and Technology,ISR Laboratory,Moscow,Russia","ISR Laboratory, Skolkovo Institute of Science and Technology, Moscow, Russia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Skolkovo Institute of Science and Technology,ISR Laboratory,Moscow,Russia","institution_ids":["https://openalex.org/I125989756"]},{"raw_affiliation_string":"ISR Laboratory, Skolkovo Institute of Science and Technology, Moscow, Russia","institution_ids":["https://openalex.org/I125989756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068691144","display_name":"Mikhail Kurenkov","orcid":"https://orcid.org/0000-0001-5718-956X"},"institutions":[{"id":"https://openalex.org/I125989756","display_name":"Skolkovo Institute of Science and Technology","ror":"https://ror.org/03f9nc143","country_code":"RU","type":"education","lineage":["https://openalex.org/I125989756"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Mikhail Kurenkov","raw_affiliation_strings":["Skolkovo Institute of Science and Technology,ISR Laboratory,Moscow,Russia","ISR Laboratory, Skolkovo Institute of Science and Technology, Moscow, Russia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Skolkovo Institute of Science and Technology,ISR Laboratory,Moscow,Russia","institution_ids":["https://openalex.org/I125989756"]},{"raw_affiliation_string":"ISR Laboratory, Skolkovo Institute of Science and Technology, Moscow, Russia","institution_ids":["https://openalex.org/I125989756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026305024","display_name":"Evgeny Yudin","orcid":null},"institutions":[{"id":"https://openalex.org/I125989756","display_name":"Skolkovo Institute of Science and Technology","ror":"https://ror.org/03f9nc143","country_code":"RU","type":"education","lineage":["https://openalex.org/I125989756"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Evgeny Yudin","raw_affiliation_strings":["Skolkovo Institute of Science and Technology,ISR Laboratory,Moscow,Russia","ISR Laboratory, Skolkovo Institute of Science and Technology, Moscow, Russia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Skolkovo Institute of Science and Technology,ISR Laboratory,Moscow,Russia","institution_ids":["https://openalex.org/I125989756"]},{"raw_affiliation_string":"ISR Laboratory, Skolkovo Institute of Science and Technology, Moscow, Russia","institution_ids":["https://openalex.org/I125989756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016050257","display_name":"Andrei Potapov","orcid":null},"institutions":[{"id":"https://openalex.org/I125989756","display_name":"Skolkovo Institute of Science and Technology","ror":"https://ror.org/03f9nc143","country_code":"RU","type":"education","lineage":["https://openalex.org/I125989756"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Andrei Potapov","raw_affiliation_strings":["Skolkovo Institute of Science and Technology,ISR Laboratory,Moscow,Russia","ISR Laboratory, Skolkovo Institute of Science and Technology, Moscow, Russia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Skolkovo Institute of Science and Technology,ISR Laboratory,Moscow,Russia","institution_ids":["https://openalex.org/I125989756"]},{"raw_affiliation_string":"ISR Laboratory, Skolkovo Institute of Science and Technology, Moscow, Russia","institution_ids":["https://openalex.org/I125989756"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5056458774","display_name":"Dzmitry Tsetserukou","orcid":"https://orcid.org/0000-0001-8055-5345"},"institutions":[{"id":"https://openalex.org/I125989756","display_name":"Skolkovo Institute of Science and Technology","ror":"https://ror.org/03f9nc143","country_code":"RU","type":"education","lineage":["https://openalex.org/I125989756"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Dzmitry Tsetserukou","raw_affiliation_strings":["Skolkovo Institute of Science and Technology,ISR Laboratory,Moscow,Russia","ISR Laboratory, Skolkovo Institute of Science and Technology, Moscow, Russia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Skolkovo Institute of Science and Technology,ISR Laboratory,Moscow,Russia","institution_ids":["https://openalex.org/I125989756"]},{"raw_affiliation_string":"ISR Laboratory, Skolkovo Institute of Science and Technology, Moscow, Russia","institution_ids":["https://openalex.org/I125989756"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I125989756"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":23,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"430","last_page":"435"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"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":1.0,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9987999796867371,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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":0.996399998664856,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.7089581489562988},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.696540355682373},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.6357822418212891},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6294025182723999},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.5583730936050415},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.5362882614135742},{"id":"https://openalex.org/keywords/distortion","display_name":"Distortion (music)","score":0.5002915859222412},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.48957785964012146},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.4559410810470581},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.45582565665245056},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.45554888248443604},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.44247370958328247},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4393021762371063},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.43808382749557495},{"id":"https://openalex.org/keywords/term","display_name":"Term (time)","score":0.4327985942363739},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.33394238352775574},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.280531108379364},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.21588152647018433},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12798252701759338},{"id":"https://openalex.org/keywords/database","display_name":"Database","score":0.07441028952598572}],"concepts":[{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.7089581489562988},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.696540355682373},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.6357822418212891},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6294025182723999},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.5583730936050415},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.5362882614135742},{"id":"https://openalex.org/C126780896","wikidata":"https://www.wikidata.org/wiki/Q899871","display_name":"Distortion (music)","level":4,"score":0.5002915859222412},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.48957785964012146},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.4559410810470581},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.45582565665245056},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.45554888248443604},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.44247370958328247},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4393021762371063},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.43808382749557495},{"id":"https://openalex.org/C61797465","wikidata":"https://www.wikidata.org/wiki/Q1188986","display_name":"Term (time)","level":2,"score":0.4327985942363739},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.33394238352775574},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.280531108379364},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.21588152647018433},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12798252701759338},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.07441028952598572},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C194257627","wikidata":"https://www.wikidata.org/wiki/Q211554","display_name":"Amplifier","level":3,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C2776257435","wikidata":"https://www.wikidata.org/wiki/Q1576430","display_name":"Bandwidth (computing)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/smc53654.2022.9945381","is_oa":false,"landing_page_url":"https://doi.org/10.1109/smc53654.2022.9945381","pdf_url":null,"source":{"id":"https://openalex.org/S4363607746","display_name":"2022 IEEE International Conference on Systems, Man, and Cybernetics (SMC)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE International Conference on Systems, Man, and Cybernetics (SMC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/9","display_name":"Industry, innovation and infrastructure","score":0.4399999976158142}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1716229439","https://openalex.org/W1987648924","https://openalex.org/W2021851106","https://openalex.org/W2250172176","https://openalex.org/W2535547924","https://openalex.org/W2776330782","https://openalex.org/W2898231767","https://openalex.org/W2909908358","https://openalex.org/W2951730755","https://openalex.org/W2955730076","https://openalex.org/W3043971245","https://openalex.org/W3045264917","https://openalex.org/W3102327032","https://openalex.org/W3109585842","https://openalex.org/W3126851256","https://openalex.org/W3131673036","https://openalex.org/W3141915075","https://openalex.org/W3187917571","https://openalex.org/W3202897040","https://openalex.org/W3203806429","https://openalex.org/W3205085146","https://openalex.org/W3214919204","https://openalex.org/W4205574455","https://openalex.org/W4214768561","https://openalex.org/W4226396378","https://openalex.org/W4293057873","https://openalex.org/W4312280420","https://openalex.org/W4312878643","https://openalex.org/W6637636807"],"related_works":["https://openalex.org/W4380763496","https://openalex.org/W2100339372","https://openalex.org/W2970345194","https://openalex.org/W4386821976","https://openalex.org/W2149015029","https://openalex.org/W4313288997","https://openalex.org/W2807473852","https://openalex.org/W4308497005","https://openalex.org/W2152464524","https://openalex.org/W2081798451"],"abstract_inverted_index":{"Existing":[0],"Simultaneous":[1],"Localization":[2],"and":[3,27,76,100,131],"Mapping":[4],"(SLAM)":[5],"approaches":[6],"are":[7],"limited":[8],"in":[9,17,45,104],"their":[10],"scalability":[11],"due":[12],"to":[13,31,91,119,151],"growing":[14],"map":[15,63,98],"size":[16],"long-term":[18,46],"robot":[19],"operation.":[20],"Moreover,":[21,136],"processing":[22],"such":[23],"maps":[24,145],"for":[25],"localization":[26],"planning":[28],"tasks":[29],"leads":[30],"the":[32,40,67,87,111,114,120,133,137,142,160],"increased":[33],"computational":[34],"resources":[35],"required":[36],"onboard.":[37],"To":[38],"address":[39],"problem":[41],"of":[42,113],"memory":[43],"consumption":[44],"operation,":[47],"we":[48],"develop":[49],"a":[50,85],"novel":[51],"real-time":[52],"SLAM":[53,139,162],"algorithm,":[54],"MeSLAM,":[55],"that":[56,110],"is":[57,89,117],"based":[58],"on":[59,127],"neural":[60,73],"field":[61],"implicit":[62],"representation.":[64],"It":[65],"combines":[66],"proposed":[68,115,138],"global":[69],"mapping":[70],"strategy,":[71],"including":[72],"networks":[74,95],"distribution":[75],"region":[77],"tracking,":[78],"with":[79],"an":[80],"external":[81],"odometry":[82],"system.":[83],"As":[84],"result,":[86],"algorithm":[88],"able":[90],"efficiently":[92],"train":[93],"multiple":[94],"representing":[96],"different":[97],"regions":[99],"track":[101],"poses":[102],"accurately":[103],"large-scale":[105],"environments.":[106],"Experimental":[107],"results":[108],"show":[109],"accuracy":[112],"approach":[116,140],"comparable":[118],"state-of-the-art":[121,161],"methods":[122],"(on":[123],"average,":[124],"6.6":[125],"cm":[126],"TUM":[128],"RGB-D":[129],"sequences)":[130],"outperforms":[132],"baseline,":[134],"iMAP*.":[135],"provides":[141],"most":[143],"compact-sized":[144],"without":[146],"details":[147],"distortion":[148],"(1.9":[149],"MB":[150],"store":[152],"57":[153],"m":[154],"<sup":[155],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[156],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">3</sup>":[157],")":[158],"among":[159],"approaches.":[163]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":6}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
