{"id":"https://openalex.org/W7101647072","doi":"https://doi.org/10.1109/tro.2025.3626627","title":"HI-SLAM2: Geometry-Aware Gaussian SLAM for Fast Monocular Scene Reconstruction","display_name":"HI-SLAM2: Geometry-Aware Gaussian SLAM for Fast Monocular Scene Reconstruction","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W7101647072","doi":"https://doi.org/10.1109/tro.2025.3626627"},"language":null,"primary_location":{"id":"doi:10.1109/tro.2025.3626627","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2025.3626627","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","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":"Wei Zhang","orcid":"https://orcid.org/0000-0003-1818-4082"},"institutions":[{"id":"https://openalex.org/I100066346","display_name":"University of Stuttgart","ror":"https://ror.org/04vnq7t77","country_code":"DE","type":"education","lineage":["https://openalex.org/I100066346"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Wei Zhang","raw_affiliation_strings":["Institute for Photogrammetry and Geoinformatics, University of Stuttgart, Stuttgart, Germany"],"affiliations":[{"raw_affiliation_string":"Institute for Photogrammetry and Geoinformatics, University of Stuttgart, Stuttgart, Germany","institution_ids":["https://openalex.org/I100066346"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Qing Cheng","orcid":"https://orcid.org/0009-0007-9117-6800"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Qing Cheng","raw_affiliation_strings":["Technical University of Munich, Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":null,"display_name":"David Skuddis","orcid":null},"institutions":[{"id":"https://openalex.org/I100066346","display_name":"University of Stuttgart","ror":"https://ror.org/04vnq7t77","country_code":"DE","type":"education","lineage":["https://openalex.org/I100066346"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"David Skuddis","raw_affiliation_strings":["Institute for Photogrammetry and Geoinformatics, University of Stuttgart, Stuttgart, Germany"],"affiliations":[{"raw_affiliation_string":"Institute for Photogrammetry and Geoinformatics, University of Stuttgart, Stuttgart, Germany","institution_ids":["https://openalex.org/I100066346"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Niclas Zeller","orcid":"https://orcid.org/0000-0001-7865-1944"},"institutions":[{"id":"https://openalex.org/I70886390","display_name":"Karlsruhe University of Applied Sciences","ror":"https://ror.org/01c0m1t63","country_code":"DE","type":"education","lineage":["https://openalex.org/I70886390"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Niclas Zeller","raw_affiliation_strings":["Karlsruhe University of Applied Sciences, Karlsruhe, Germany"],"affiliations":[{"raw_affiliation_string":"Karlsruhe University of Applied Sciences, Karlsruhe, Germany","institution_ids":["https://openalex.org/I70886390"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Daniel Cremers","orcid":"https://orcid.org/0000-0002-3079-7984"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Daniel Cremers","raw_affiliation_strings":["Technical University of Munich, Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":null,"display_name":"Norbert Haala","orcid":"https://orcid.org/"},"institutions":[{"id":"https://openalex.org/I100066346","display_name":"University of Stuttgart","ror":"https://ror.org/04vnq7t77","country_code":"DE","type":"education","lineage":["https://openalex.org/I100066346"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Norbert Haala","raw_affiliation_strings":["Institute for Photogrammetry and Geoinformatics, University of Stuttgart, Stuttgart, Germany"],"affiliations":[{"raw_affiliation_string":"Institute for Photogrammetry and Geoinformatics, University of Stuttgart, Stuttgart, Germany","institution_ids":["https://openalex.org/I100066346"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I100066346"],"apc_list":null,"apc_paid":null,"fwci":13.85742964,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.97114767,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":100},"biblio":{"volume":"41","issue":null,"first_page":"6478","last_page":"6493"},"is_retracted":false,"is_paratext":false,"is_xpac":true,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9715999960899353,"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":0.9715999960899353,"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":0.010599999688565731,"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":0.0012000000569969416,"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":0.5006999969482422},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.4535999894142151},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.40310001373291016},{"id":"https://openalex.org/keywords/gaussian-process","display_name":"Gaussian process","score":0.36730000376701355},{"id":"https://openalex.org/keywords/iterative-reconstruction","display_name":"Iterative reconstruction","score":0.33320000767707825},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.32429999113082886},{"id":"https://openalex.org/keywords/fuse","display_name":"Fuse (electrical)","score":0.31060001254081726},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.28929999470710754}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7889000177383423},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7832000255584717},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6599000096321106},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5006999969482422},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.4535999894142151},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.40310001373291016},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.36730000376701355},{"id":"https://openalex.org/C141379421","wikidata":"https://www.wikidata.org/wiki/Q6094427","display_name":"Iterative reconstruction","level":2,"score":0.33320000767707825},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.32429999113082886},{"id":"https://openalex.org/C141353440","wikidata":"https://www.wikidata.org/wiki/Q182221","display_name":"Fuse (electrical)","level":2,"score":0.31060001254081726},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.28929999470710754},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.28200000524520874},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.2784999907016754},{"id":"https://openalex.org/C2983761899","wikidata":"https://www.wikidata.org/wiki/Q604674","display_name":"Robot vision","level":4,"score":0.2770000100135803},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.2732999920845032},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.2680000066757202},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.26460000872612},{"id":"https://openalex.org/C61224824","wikidata":"https://www.wikidata.org/wiki/Q2260434","display_name":"Mixture model","level":2,"score":0.2572000026702881},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.25690001249313354},{"id":"https://openalex.org/C65892221","wikidata":"https://www.wikidata.org/wiki/Q1113935","display_name":"Gaussian filter","level":3,"score":0.25279998779296875},{"id":"https://openalex.org/C9417928","wikidata":"https://www.wikidata.org/wiki/Q1070689","display_name":"Image processing","level":3,"score":0.25029999017715454}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2025.3626627","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2025.3626627","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":72,"referenced_works":["https://openalex.org/W612478963","https://openalex.org/W1612997784","https://openalex.org/W1656165940","https://openalex.org/W1987648924","https://openalex.org/W1993120651","https://openalex.org/W2009422376","https://openalex.org/W2108134361","https://openalex.org/W2117248802","https://openalex.org/W2152671441","https://openalex.org/W2165114467","https://openalex.org/W2250172176","https://openalex.org/W2296228853","https://openalex.org/W2336961836","https://openalex.org/W2411093439","https://openalex.org/W2461937780","https://openalex.org/W2471962767","https://openalex.org/W2474281075","https://openalex.org/W2482854527","https://openalex.org/W2564632156","https://openalex.org/W2594519801","https://openalex.org/W2606794968","https://openalex.org/W2745859992","https://openalex.org/W2951730755","https://openalex.org/W2955639361","https://openalex.org/W2962793285","https://openalex.org/W2964153986","https://openalex.org/W2985775862","https://openalex.org/W3035172746","https://openalex.org/W3043971245","https://openalex.org/W3109908659","https://openalex.org/W3154129649","https://openalex.org/W3199238138","https://openalex.org/W3203887644","https://openalex.org/W3215023725","https://openalex.org/W4200150166","https://openalex.org/W4210423514","https://openalex.org/W4214768561","https://openalex.org/W4221151978","https://openalex.org/W4236769309","https://openalex.org/W4312234520","https://openalex.org/W4312325284","https://openalex.org/W4312815172","https://openalex.org/W4312878643","https://openalex.org/W4375929103","https://openalex.org/W4383108809","https://openalex.org/W4385318467","https://openalex.org/W4386066489","https://openalex.org/W4386066696","https://openalex.org/W4389665446","https://openalex.org/W4390224511","https://openalex.org/W4390871919","https://openalex.org/W4390872919","https://openalex.org/W4390873101","https://openalex.org/W4393248012","https://openalex.org/W4397028793","https://openalex.org/W4399574562","https://openalex.org/W4400228262","https://openalex.org/W4402508564","https://openalex.org/W4402698355","https://openalex.org/W4402716305","https://openalex.org/W4402727597","https://openalex.org/W4402727865","https://openalex.org/W4402753900","https://openalex.org/W4403562222","https://openalex.org/W4403770187","https://openalex.org/W4405785039","https://openalex.org/W4412799735","https://openalex.org/W4413147031","https://openalex.org/W4413558613","https://openalex.org/W4413917033","https://openalex.org/W4413925399","https://openalex.org/W4415798746"],"related_works":[],"abstract_inverted_index":null,"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1}],"updated_date":"2025-11-23T05:10:03.516525","created_date":"2025-10-29T00:00:00"}