{"id":"https://openalex.org/W7115910727","doi":"https://doi.org/10.1109/tcsvt.2025.3645351","title":"DGS-SLAM: Robust Visual SLAM With 3D Gaussian Splatting in Dynamic Environments","display_name":"DGS-SLAM: Robust Visual SLAM With 3D Gaussian Splatting in Dynamic Environments","publication_year":2025,"publication_date":"2025-12-18","ids":{"openalex":"https://openalex.org/W7115910727","doi":"https://doi.org/10.1109/tcsvt.2025.3645351"},"language":null,"primary_location":{"id":"doi:10.1109/tcsvt.2025.3645351","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcsvt.2025.3645351","pdf_url":null,"source":{"id":"https://openalex.org/S115173108","display_name":"IEEE Transactions on Circuits and Systems for Video Technology","issn_l":"1051-8215","issn":["1051-8215","1558-2205"],"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 Circuits and Systems for Video Technology","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":null,"display_name":"Zhaoqian Jia","orcid":"https://orcid.org/0000-0003-3111-9162"},"institutions":[{"id":"https://openalex.org/I150229711","display_name":"University of Electronic Science and Technology of China","ror":"https://ror.org/04qr3zq92","country_code":"CN","type":"education","lineage":["https://openalex.org/I150229711"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhaoqian Jia","raw_affiliation_strings":["Center for Public Security Technology, University of Electronic Science and Technology of China, Chengdu, China"],"raw_orcid":"https://orcid.org/0000-0003-3111-9162","affiliations":[{"raw_affiliation_string":"Center for Public Security Technology, University of Electronic Science and Technology of China, Chengdu, China","institution_ids":["https://openalex.org/I150229711"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Qi Li","orcid":"https://orcid.org/0009-0000-8786-508X"},"institutions":[{"id":"https://openalex.org/I150229711","display_name":"University of Electronic Science and Technology of China","ror":"https://ror.org/04qr3zq92","country_code":"CN","type":"education","lineage":["https://openalex.org/I150229711"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qi Li","raw_affiliation_strings":["Center for Public Security Technology, University of Electronic Science and Technology of China, Chengdu, China"],"raw_orcid":"https://orcid.org/0009-0000-8786-508X","affiliations":[{"raw_affiliation_string":"Center for Public Security Technology, University of Electronic Science and Technology of China, Chengdu, China","institution_ids":["https://openalex.org/I150229711"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Li Zhan","orcid":"https://orcid.org/0009-0000-4572-1491"},"institutions":[{"id":"https://openalex.org/I150229711","display_name":"University of Electronic Science and Technology of China","ror":"https://ror.org/04qr3zq92","country_code":"CN","type":"education","lineage":["https://openalex.org/I150229711"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Li Zhan","raw_affiliation_strings":["Center for Public Security Technology, University of Electronic Science and Technology of China, Chengdu, China"],"raw_orcid":"https://orcid.org/0009-0000-4572-1491","affiliations":[{"raw_affiliation_string":"Center for Public Security Technology, University of Electronic Science and Technology of China, Chengdu, China","institution_ids":["https://openalex.org/I150229711"]}]},{"author_position":"last","author":{"id":null,"display_name":"Zhiguo Wang","orcid":"https://orcid.org/0000-0002-5652-5362"},"institutions":[{"id":"https://openalex.org/I150229711","display_name":"University of Electronic Science and Technology of China","ror":"https://ror.org/04qr3zq92","country_code":"CN","type":"education","lineage":["https://openalex.org/I150229711"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiguo Wang","raw_affiliation_strings":["Center for Public Security Technology, University of Electronic Science and Technology of China, Chengdu, China"],"raw_orcid":"https://orcid.org/0000-0002-5652-5362","affiliations":[{"raw_affiliation_string":"Center for Public Security Technology, University of Electronic Science and Technology of China, Chengdu, China","institution_ids":["https://openalex.org/I150229711"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I150229711"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.67351331,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"36","issue":"5","first_page":"6890","last_page":"6904"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9743000268936157,"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":0.9743000268936157,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.0044999998062849045,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.0017000000225380063,"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/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5845000147819519},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5078999996185303},{"id":"https://openalex.org/keywords/consistency","display_name":"Consistency (knowledge bases)","score":0.44519999623298645},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.4032000005245209},{"id":"https://openalex.org/keywords/sliding-window-protocol","display_name":"Sliding window protocol","score":0.3991999924182892},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.39629998803138733},{"id":"https://openalex.org/keywords/visualization","display_name":"Visualization","score":0.36910000443458557},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.3666999936103821},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.349700003862381}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8543000221252441},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7508999705314636},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7454000115394592},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5845000147819519},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5078999996185303},{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.44519999623298645},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.4032000005245209},{"id":"https://openalex.org/C102392041","wikidata":"https://www.wikidata.org/wiki/Q592860","display_name":"Sliding window protocol","level":3,"score":0.3991999924182892},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.39629998803138733},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.36910000443458557},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.3666999936103821},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.349700003862381},{"id":"https://openalex.org/C202474056","wikidata":"https://www.wikidata.org/wiki/Q1931635","display_name":"Video tracking","level":3,"score":0.34950000047683716},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.34130001068115234},{"id":"https://openalex.org/C2776863239","wikidata":"https://www.wikidata.org/wiki/Q7936601","display_name":"Visual hull","level":3,"score":0.3384000062942505},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.33820000290870667},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.3377000093460083},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.3353999853134155},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.32749998569488525},{"id":"https://openalex.org/C61224824","wikidata":"https://www.wikidata.org/wiki/Q2260434","display_name":"Mixture model","level":2,"score":0.30469998717308044},{"id":"https://openalex.org/C150627866","wikidata":"https://www.wikidata.org/wiki/Q1076893","display_name":"Field of view","level":2,"score":0.30309998989105225},{"id":"https://openalex.org/C37404715","wikidata":"https://www.wikidata.org/wiki/Q380679","display_name":"Dynamic programming","level":2,"score":0.2851000130176544},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.28110000491142273},{"id":"https://openalex.org/C142853389","wikidata":"https://www.wikidata.org/wiki/Q744778","display_name":"Association (psychology)","level":2,"score":0.27649998664855957},{"id":"https://openalex.org/C2780056265","wikidata":"https://www.wikidata.org/wiki/Q106239881","display_name":"High dynamic range","level":3,"score":0.25940001010894775},{"id":"https://openalex.org/C2778751112","wikidata":"https://www.wikidata.org/wiki/Q835016","display_name":"Window (computing)","level":2,"score":0.25920000672340393},{"id":"https://openalex.org/C197298091","wikidata":"https://www.wikidata.org/wiki/Q5318963","display_name":"Dynamic data","level":2,"score":0.25130000710487366}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tcsvt.2025.3645351","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcsvt.2025.3645351","pdf_url":null,"source":{"id":"https://openalex.org/S115173108","display_name":"IEEE Transactions on Circuits and Systems for Video Technology","issn_l":"1051-8215","issn":["1051-8215","1558-2205"],"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 Circuits and Systems for Video Technology","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.5693467259407043,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Integrating":[0],"3D":[1],"Gaussian":[2],"Splatting":[3],"(3DGS)":[4],"for":[5],"dense":[6,83],"scene":[7,27],"reconstruction":[8],"has":[9],"recently":[10],"gained":[11],"significant":[12],"attention":[13],"in":[14,37,85,160,182],"the":[15,25,55,59,127,136,157,161,167],"field":[16],"of":[17,58,79,129],"Visual":[18],"Simultaneous":[19],"Localization":[20],"and":[21,32,82,103,139,170],"Mapping":[22],"(V-SLAM).":[23],"However,":[24],"static":[26,153,158,188],"assumption":[28],"underlying":[29],"both":[30],"V-SLAM":[31,76],"3DGS":[33,137,162],"limits":[34],"their":[35],"effectiveness":[36],"real-world":[38],"environments":[39],"populated":[40],"with":[41],"dynamic":[42,86,90,145,183],"objects.":[43],"Dynamic":[44,173],"objects":[45,108],"not":[46],"only":[47],"degrade":[48],"SLAM":[49],"tracking":[50],"performance":[51],"but":[52],"also":[53],"compromise":[54],"spatial-temporal":[56],"consistency":[57],"reconstructed":[60],"map,":[61],"leading":[62],"to":[63,106,119,124,155,191],"severe":[64],"system":[65,77],"failures.":[66],"In":[67],"this":[68],"work,":[69],"we":[70],"propose":[71],"DGS-SLAM,":[72],"a":[73,120],"novel":[74],"3DGS-based":[75,195],"capable":[78],"robust":[80],"self-localization":[81],"mapping":[84],"environments.":[87],"To":[88],"address":[89],"scenes,":[91],"DGS-SLAM":[92,177],"integrates":[93],"several":[94],"key":[95],"strategies:":[96],"1)":[97],"object":[98,117],"association":[99,118],"that":[100,115,134,150,176],"fuses":[101],"visual":[102],"geometric":[104],"information":[105],"match":[107],"between":[109],"adjacent":[110],"frames;":[111],"2)":[112],"motion":[113],"check":[114],"extends":[116],"long-term":[121],"sliding":[122],"window":[123],"accurately":[125],"perceive":[126],"movement":[128],"objects;":[130,146],"3)":[131],"local":[132],"fine-tuning":[133],"repairs":[135],"model":[138],"updates":[140],"keyframe":[141,148],"poses":[142],"after":[143],"eliminating":[144],"4)":[147],"selection":[149],"promptly":[151],"selects":[152],"keyframes":[154],"optimize":[156],"regions":[159],"model.":[163],"Extensive":[164],"experiments":[165],"on":[166],"TUM":[168],"RGB-D":[169,172],"BONN":[171],"datasets":[174],"demonstrate":[175],"significantly":[178],"improves":[179],"localization":[180],"accuracy":[181],"scenes":[184],"while":[185],"generating":[186],"high-quality":[187],"maps,":[189],"compared":[190],"other":[192],"existing":[193],"state-of-the-art":[194],"methods.":[196]},"counts_by_year":[],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-12-19T00:00:00"}