{"id":"https://openalex.org/W4411142742","doi":"https://doi.org/10.1109/tase.2025.3575772","title":"MG-SLAM: Structure Gaussian Splatting SLAM With Manhattan World Hypothesis","display_name":"MG-SLAM: Structure Gaussian Splatting SLAM With Manhattan World Hypothesis","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4411142742","doi":"https://doi.org/10.1109/tase.2025.3575772"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2025.3575772","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2025.3575772","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"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 Transactions on Automation Science and Engineering","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/A5026806897","display_name":"Shuhong Liu","orcid":"https://orcid.org/0009-0002-8959-824X"},"institutions":[{"id":"https://openalex.org/I161296585","display_name":"Tokyo University of Science","ror":"https://ror.org/05sj3n476","country_code":"JP","type":"education","lineage":["https://openalex.org/I161296585"]},{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shuhong Liu","raw_affiliation_strings":["Department of Information Science and Technology, Department of Complexity Science and Engineering, The University of Tokyo, Tokyo, Japan","Department of Information Science and Technology and Department of Complexity Science and Engineering, The University of Tokyo, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0009-0002-8959-824X","affiliations":[{"raw_affiliation_string":"Department of Information Science and Technology, Department of Complexity Science and Engineering, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I161296585"]},{"raw_affiliation_string":"Department of Information Science and Technology and Department of Complexity Science and Engineering, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078717226","display_name":"Tianchen Deng","orcid":"https://orcid.org/0000-0002-4368-7936"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tianchen Deng","raw_affiliation_strings":["Department of Automation, Institute of Medical Robotics, Shanghai Jiao Tong University, Shanghai, China","Institute of Medical Robotics and Department of Automation, Shanghai Jiao Tong University, and Key Laboratory of System Control and Information Processing, Ministry of Education, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0002-4368-7936","affiliations":[{"raw_affiliation_string":"Department of Automation, Institute of Medical Robotics, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"Institute of Medical Robotics and Department of Automation, Shanghai Jiao Tong University, and Key Laboratory of System Control and Information Processing, Ministry of Education, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100577278","display_name":"Heng Zhou","orcid":"https://orcid.org/0009-0008-9053-9048"},"institutions":[{"id":"https://openalex.org/I78577930","display_name":"Columbia University","ror":"https://ror.org/00hj8s172","country_code":"US","type":"education","lineage":["https://openalex.org/I78577930"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Heng Zhou","raw_affiliation_strings":["Department of Mechanical Engineering, Columbia University, New York, NY, USA","Department of Mechanical Engineering, Columbia University, New York, United States"],"raw_orcid":"https://orcid.org/0009-0008-9053-9048","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Columbia University, New York, NY, USA","institution_ids":["https://openalex.org/I78577930"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Columbia University, New York, United States","institution_ids":["https://openalex.org/I78577930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5093538466","display_name":"Liuzhuozheng Li","orcid":null},"institutions":[{"id":"https://openalex.org/I161296585","display_name":"Tokyo University of Science","ror":"https://ror.org/05sj3n476","country_code":"JP","type":"education","lineage":["https://openalex.org/I161296585"]},{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Liuzhuozheng Li","raw_affiliation_strings":["Department of Information Science and Technology, Department of Complexity Science and Engineering, The University of Tokyo, Tokyo, Japan","Department of Information Science and Technology and Department of Complexity Science and Engineering, The University of Tokyo, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Information Science and Technology, Department of Complexity Science and Engineering, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I161296585"]},{"raw_affiliation_string":"Department of Information Science and Technology and Department of Complexity Science and Engineering, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100422639","display_name":"Hongyu Wang","orcid":"https://orcid.org/0000-0002-1038-412X"},"institutions":[{"id":"https://openalex.org/I27357992","display_name":"Dalian University of Technology","ror":"https://ror.org/023hj5876","country_code":"CN","type":"education","lineage":["https://openalex.org/I27357992"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongyu Wang","raw_affiliation_strings":["Department of Computer Science, Dalian University of Technology, Dalian, China"],"raw_orcid":"https://orcid.org/0000-0002-1038-412X","affiliations":[{"raw_affiliation_string":"Department of Computer Science, Dalian University of Technology, Dalian, China","institution_ids":["https://openalex.org/I27357992"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103232173","display_name":"Danwei Wang","orcid":"https://orcid.org/0000-0003-3400-0079"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Danwei Wang","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University, Jurong West, Singapore","School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore"],"raw_orcid":"https://orcid.org/0000-0003-3400-0079","affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Jurong West, Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5107048412","display_name":"Mingrui Li","orcid":"https://orcid.org/0009-0008-8937-4151"},"institutions":[{"id":"https://openalex.org/I27357992","display_name":"Dalian University of Technology","ror":"https://ror.org/023hj5876","country_code":"CN","type":"education","lineage":["https://openalex.org/I27357992"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mingrui Li","raw_affiliation_strings":["Department of Computer Science, Dalian University of Technology, Dalian, China"],"raw_orcid":"https://orcid.org/0009-0008-8937-4151","affiliations":[{"raw_affiliation_string":"Department of Computer Science, Dalian University of Technology, Dalian, China","institution_ids":["https://openalex.org/I27357992"]}]}],"institutions":[],"countries_distinct_count":4,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":23.8684,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.99245581,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"22","issue":null,"first_page":"17034","last_page":"17049"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9988999962806702,"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":0.9988999962806702,"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":0.9850999712944031,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9763000011444092,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5825873017311096},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5610262155532837},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5347774028778076},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4944579601287842},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.4886210560798645},{"id":"https://openalex.org/keywords/gaussian-process","display_name":"Gaussian process","score":0.420676052570343},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.36243003606796265},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.24153673648834229},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.24105852842330933},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1572326123714447}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5825873017311096},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5610262155532837},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5347774028778076},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4944579601287842},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.4886210560798645},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.420676052570343},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.36243003606796265},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.24153673648834229},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.24105852842330933},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1572326123714447},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tase.2025.3575772","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2025.3575772","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"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 Transactions on Automation Science and Engineering","raw_type":"journal-article"},{"id":"pmh:oai:dr.ntu.edu.sg:10356/217558","is_oa":false,"landing_page_url":"https://hdl.handle.net/10356/217558","pdf_url":null,"source":{"id":"https://openalex.org/S4306402609","display_name":"DR-NTU (Nanyang Technological University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I172675005","host_organization_name":"Nanyang Technological University","host_organization_lineage":["https://openalex.org/I172675005"],"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":"Journal Article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/13","score":0.5600000023841858,"display_name":"Climate action"}],"awards":[{"id":"https://openalex.org/G10904768","display_name":null,"funder_award_id":"No.SMI-2022-MTP-04","funder_id":"https://openalex.org/F4320320709","funder_display_name":"National Research Foundation Singapore"},{"id":"https://openalex.org/G7370785541","display_name":null,"funder_award_id":"No.M22NBK0109","funder_id":"https://openalex.org/F4320320709","funder_display_name":"National Research Foundation Singapore"}],"funders":[{"id":"https://openalex.org/F4320320671","display_name":"National Research Foundation","ror":"https://ror.org/05s0g1g46"},{"id":"https://openalex.org/F4320320709","display_name":"National Research Foundation Singapore","ror":"https://ror.org/03cpyc314"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":80,"referenced_works":["https://openalex.org/W1612997784","https://openalex.org/W2008849352","https://openalex.org/W2009422376","https://openalex.org/W2021278996","https://openalex.org/W2087070363","https://openalex.org/W2097696373","https://openalex.org/W2108134361","https://openalex.org/W2136527382","https://openalex.org/W2256578114","https://openalex.org/W2336961836","https://openalex.org/W2535547924","https://openalex.org/W2594519801","https://openalex.org/W2888144883","https://openalex.org/W2889958683","https://openalex.org/W2905178987","https://openalex.org/W2951159596","https://openalex.org/W3009928773","https://openalex.org/W3043971245","https://openalex.org/W3047644375","https://openalex.org/W3096949215","https://openalex.org/W3174272147","https://openalex.org/W3207187295","https://openalex.org/W3207290493","https://openalex.org/W4200587326","https://openalex.org/W4285102352","https://openalex.org/W4306748626","https://openalex.org/W4312878643","https://openalex.org/W4313150053","https://openalex.org/W4313186498","https://openalex.org/W4313639316","https://openalex.org/W4318679043","https://openalex.org/W4376607641","https://openalex.org/W4383108801","https://openalex.org/W4383109324","https://openalex.org/W4385318467","https://openalex.org/W4386066489","https://openalex.org/W4386066696","https://openalex.org/W4386075953","https://openalex.org/W4386083004","https://openalex.org/W4386432142","https://openalex.org/W4386432320","https://openalex.org/W4386702874","https://openalex.org/W4387917956","https://openalex.org/W4389667210","https://openalex.org/W4390224511","https://openalex.org/W4390872919","https://openalex.org/W4390873648","https://openalex.org/W4392693641","https://openalex.org/W4392980096","https://openalex.org/W4393853214","https://openalex.org/W4396822316","https://openalex.org/W4396853098","https://openalex.org/W4399574562","https://openalex.org/W4399938857","https://openalex.org/W4399938925","https://openalex.org/W4400581064","https://openalex.org/W4402630434","https://openalex.org/W4402698355","https://openalex.org/W4402698358","https://openalex.org/W4402704609","https://openalex.org/W4402716305","https://openalex.org/W4402716403","https://openalex.org/W4402727865","https://openalex.org/W4402754302","https://openalex.org/W4403705798","https://openalex.org/W4403770187","https://openalex.org/W4403779097","https://openalex.org/W4404370915","https://openalex.org/W4404576919","https://openalex.org/W4404915386","https://openalex.org/W4407354548","https://openalex.org/W6682761374","https://openalex.org/W6739778489","https://openalex.org/W6764040762","https://openalex.org/W6800837989","https://openalex.org/W6856426459","https://openalex.org/W6859420919","https://openalex.org/W6861879152","https://openalex.org/W6863279378","https://openalex.org/W6872810494"],"related_works":["https://openalex.org/W28570768","https://openalex.org/W2912965286","https://openalex.org/W2949553486","https://openalex.org/W4288626232","https://openalex.org/W2542348219","https://openalex.org/W2970101145","https://openalex.org/W2462185186","https://openalex.org/W1964286703","https://openalex.org/W2169866437","https://openalex.org/W3056417032"],"abstract_inverted_index":{"Gaussian":[0,49,136],"Splatting":[1],"SLAMs":[2],"have":[3],"made":[4],"significant":[5],"advancements":[6,120],"in":[7,23,81,99,132],"improving":[8],"the":[9,56,133],"efficiency":[10],"and":[11,64,89,114],"fidelity":[12],"of":[13,96,101,135],"real-time":[14],"reconstructions.":[15],"However,":[16],"these":[17,119],"systems":[18],"often":[19],"encounter":[20],"incomplete":[21],"reconstructions":[22],"complex":[24],"indoor":[25,83],"environments,":[26],"characterized":[27],"by":[28,36],"substantial":[29,130],"holes":[30],"due":[31],"to":[32,60,124],"unobserved":[33],"geometry":[34],"caused":[35],"obstacles":[37],"or":[38],"limited":[39],"view":[40],"angles.":[41],"To":[42],"address":[43],"this":[44],"challenge,":[45],"we":[46],"present":[47],"Manhattan":[48,57],"SLAM,":[50],"an":[51],"RGB-D":[52],"system":[53],"that":[54,118],"leverages":[55],"World":[58],"hypothesis":[59],"enhance":[61],"geometric":[62],"accuracy":[63],"completeness.":[65],"By":[66],"seamlessly":[67],"integrating":[68],"fused":[69],"line":[70],"segments":[71],"derived":[72],"from":[73],"structured":[74],"scenes,":[75],"our":[76,122],"method":[77,123],"ensures":[78],"robust":[79],"tracking":[80],"textureless":[82],"areas.":[84],"Moreover,":[85],"The":[86],"extracted":[87],"lines":[88],"planar":[90],"surface":[91],"assumption":[92],"allow":[93],"strategic":[94],"interpolation":[95],"new":[97],"Gaussians":[98],"regions":[100],"missing":[102],"geometry,":[103],"enabling":[104],"efficient":[105],"scene":[106],"completion.":[107],"Extensive":[108],"experiments":[109],"conducted":[110],"on":[111],"both":[112],"synthetic":[113],"real-world":[115],"scenes":[116],"demonstrate":[117],"enable":[121],"achieve":[125],"state-of-the-art":[126],"performance,":[127],"marking":[128],"a":[129],"improvement":[131],"capabilities":[134],"SLAM":[137],"systems.":[138]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":6}],"updated_date":"2026-07-16T13:24:37.021932","created_date":"2025-10-10T00:00:00"}