{"id":"https://openalex.org/W4408441471","doi":"https://doi.org/10.1109/tim.2025.3551585","title":"LVI-GS: Tightly Coupled LiDAR\u2013Visual\u2013Inertial SLAM Using 3-D Gaussian Splatting","display_name":"LVI-GS: Tightly Coupled LiDAR\u2013Visual\u2013Inertial SLAM Using 3-D Gaussian Splatting","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4408441471","doi":"https://doi.org/10.1109/tim.2025.3551585"},"language":"en","primary_location":{"id":"doi:10.1109/tim.2025.3551585","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2025.3551585","pdf_url":null,"source":{"id":"https://openalex.org/S10892749","display_name":"IEEE Transactions on Instrumentation and Measurement","issn_l":"0018-9456","issn":["0018-9456","1557-9662"],"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 Instrumentation and Measurement","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/A5028631486","display_name":"Huibin Zhao","orcid":null},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":true,"raw_author_name":"Huibin Zhao","raw_affiliation_strings":["Department of Mechanical Engineering, Adaptive Robotic Controls Lab (ArcLab), The University of Hong Kong, Hong Kong, SAR, China","Adaptive Robotic Controls Lab (ArcLab), Department of Mechanical Engineering, The University of Hong Kong, Hong Kong SAR, China"],"raw_orcid":"https://orcid.org/0009-0007-7352-7099","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Adaptive Robotic Controls Lab (ArcLab), The University of Hong Kong, Hong Kong, SAR, China","institution_ids":["https://openalex.org/I889458895"]},{"raw_affiliation_string":"Adaptive Robotic Controls Lab (ArcLab), Department of Mechanical Engineering, The University of Hong Kong, Hong Kong SAR, China","institution_ids":["https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048275767","display_name":"Weipeng Guan","orcid":"https://orcid.org/0000-0003-4518-7852"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Weipeng Guan","raw_affiliation_strings":["Department of Mechanical Engineering, Adaptive Robotic Controls Lab (ArcLab), The University of Hong Kong, Hong Kong, SAR, China","Adaptive Robotic Controls Lab (ArcLab), Department of Mechanical Engineering, The University of Hong Kong, Hong Kong SAR, China"],"raw_orcid":"https://orcid.org/0000-0003-4518-7852","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Adaptive Robotic Controls Lab (ArcLab), The University of Hong Kong, Hong Kong, SAR, China","institution_ids":["https://openalex.org/I889458895"]},{"raw_affiliation_string":"Adaptive Robotic Controls Lab (ArcLab), Department of Mechanical Engineering, The University of Hong Kong, Hong Kong SAR, China","institution_ids":["https://openalex.org/I889458895"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5017071421","display_name":"Peng Lu","orcid":"https://orcid.org/0000-0001-5611-4902"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Peng Lu","raw_affiliation_strings":["Department of Mechanical Engineering, Adaptive Robotic Controls Lab (ArcLab), The University of Hong Kong, Hong Kong, SAR, China","Adaptive Robotic Controls Lab (ArcLab), Department of Mechanical Engineering, The University of Hong Kong, Hong Kong SAR, China"],"raw_orcid":"https://orcid.org/0000-0001-5611-4902","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Adaptive Robotic Controls Lab (ArcLab), The University of Hong Kong, Hong Kong, SAR, China","institution_ids":["https://openalex.org/I889458895"]},{"raw_affiliation_string":"Adaptive Robotic Controls Lab (ArcLab), Department of Mechanical Engineering, The University of Hong Kong, Hong Kong SAR, China","institution_ids":["https://openalex.org/I889458895"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5028631486"],"corresponding_institution_ids":["https://openalex.org/I889458895"],"apc_list":null,"apc_paid":null,"fwci":47.8776,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.99722749,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"74","issue":null,"first_page":"1","last_page":"10"},"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/T10531","display_name":"Advanced Vision and Imaging","score":0.996399998664856,"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/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9934999942779541,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.615220844745636},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6149828433990479},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5682438611984253},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.564230740070343},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.4783865213394165},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.3643494248390198},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.31651490926742554},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.15249943733215332}],"concepts":[{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.615220844745636},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6149828433990479},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5682438611984253},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.564230740070343},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.4783865213394165},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.3643494248390198},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.31651490926742554},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.15249943733215332},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tim.2025.3551585","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2025.3551585","pdf_url":null,"source":{"id":"https://openalex.org/S10892749","display_name":"IEEE Transactions on Instrumentation and Measurement","issn_l":"0018-9456","issn":["0018-9456","1557-9662"],"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 Instrumentation and Measurement","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6100000143051147,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W1999050017","https://openalex.org/W2990284439","https://openalex.org/W3043971245","https://openalex.org/W3199184510","https://openalex.org/W4200150166","https://openalex.org/W4214768561","https://openalex.org/W4249866455","https://openalex.org/W4281642191","https://openalex.org/W4285200012","https://openalex.org/W4307783807","https://openalex.org/W4312265650","https://openalex.org/W4312878643","https://openalex.org/W4313291162","https://openalex.org/W4383109324","https://openalex.org/W4385318467","https://openalex.org/W4386066489","https://openalex.org/W4386066696","https://openalex.org/W4388145520","https://openalex.org/W4389665446","https://openalex.org/W4390872919","https://openalex.org/W4390873648","https://openalex.org/W4391800855","https://openalex.org/W4396853098","https://openalex.org/W4400187964","https://openalex.org/W4402698355","https://openalex.org/W4402698358","https://openalex.org/W4402716305","https://openalex.org/W4402727865","https://openalex.org/W4403705798","https://openalex.org/W4404525393","https://openalex.org/W4405784946","https://openalex.org/W4405785276","https://openalex.org/W6800540912","https://openalex.org/W6859420919"],"related_works":["https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"Three-dimensional":[0],"Gaussian":[1,26,103],"splatting":[2,27],"(3DGS)":[3],"has":[4],"shown":[5],"its":[6],"ability":[7],"in":[8],"rapid":[9],"rendering":[10],"and":[11,37,40,48,66,86,110],"high-fidelity":[12,73],"mapping.":[13,123],"In":[14],"this":[15,55],"article,":[16],"we":[17,75],"introduce":[18,76],"a":[19,77],"tightly":[20],"coupled":[21],"LiDAR-visual\u2013inertial":[22],"SLAM":[23],"using":[24,68],"3-D":[25,52,58,139],"(LVI-GS),":[28],"which":[29],"leverages":[30],"the":[31,57,130,144],"complementary":[32],"characteristics":[33],"of":[34,51,133,143],"light":[35],"detection":[36],"ranging":[38],"(LiDAR)":[39],"image":[41],"sensors":[42],"to":[43,81,94,128],"capture":[44],"both":[45],"geometric":[46,96],"structures":[47],"visual":[49],"details":[50],"scenes.":[53],"To":[54,71],"end,":[56],"Gaussians":[59],"are":[60,126],"initialized":[61],"from":[62,91],"colorized":[63],"LiDAR":[64,92],"points":[65],"optimized":[67],"differentiable":[69],"rendering.":[70],"achieve":[72],"mapping,":[74],"pyramid-based":[78],"training":[79],"approach":[80],"effectively":[82],"learn":[83],"multilevel":[84],"features":[85],"incorporate":[87],"depth":[88],"loss":[89],"derived":[90],"measurements":[93],"improve":[95],"feature":[97],"perception.":[98],"Through":[99],"well-designed":[100],"strategies":[101],"for":[102],"map":[104],"expansion,":[105],"keyframe":[106],"selection,":[107],"thread":[108],"management,":[109],"custom":[111],"compute":[112],"unified":[113],"device":[114],"architecture":[115],"(CUDA)":[116],"acceleration,":[117],"our":[118,134,150],"framework":[119],"achieves":[120],"real-time":[121],"photorealistic":[122],"Numerical":[124],"experiments":[125],"performed":[127],"evaluate":[129],"superior":[131],"performance":[132],"method":[135],"compared":[136],"with":[137],"state-of-the-art":[138],"reconstruction":[140],"systems.":[141],"Videos":[142],"evaluations":[145],"can":[146],"be":[147],"found":[148],"on":[149],"website:":[151],"<uri":[152],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[153],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">https://kwanwaipang.github.io/LVI-GS/</uri>.":[154]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":7}],"updated_date":"2025-12-21T01:58:51.020947","created_date":"2025-10-10T00:00:00"}
