{"id":"https://openalex.org/W4414856510","doi":"https://doi.org/10.1109/tvcg.2025.3617961","title":"DenseSplat: Densifying Gaussian Splatting SLAM With Neural Radiance Prior","display_name":"DenseSplat: Densifying Gaussian Splatting SLAM With Neural Radiance Prior","publication_year":2025,"publication_date":"2025-10-06","ids":{"openalex":"https://openalex.org/W4414856510","doi":"https://doi.org/10.1109/tvcg.2025.3617961","pmid":"https://pubmed.ncbi.nlm.nih.gov/41052116"},"language":"en","primary_location":{"id":"doi:10.1109/tvcg.2025.3617961","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvcg.2025.3617961","pdf_url":null,"source":{"id":"https://openalex.org/S84775595","display_name":"IEEE Transactions on Visualization and Computer Graphics","issn_l":"1077-2626","issn":["1077-2626","1941-0506","2160-9306"],"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 Visualization and Computer Graphics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"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/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":null,"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/A5026806897","display_name":"Shuhong Liu","orcid":"https://orcid.org/0009-0002-8959-824X"},"institutions":[{"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 Mechano-informatics, Information Science and Technology, The University of Tokyo, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0009-0002-8959-824X","affiliations":[{"raw_affiliation_string":"Department of Mechano-informatics, Information Science and Technology, 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, Key Laboratory of System Control and Information Processing, Ministry of Education, Shanghai Jiao Tong University, Shanghai, China","Institute of Medical Robotics and Department of Automation, Shanghai Jiao Tong University, China"],"raw_orcid":"https://orcid.org/0000-0002-4368-7936","affiliations":[{"raw_affiliation_string":"Department of Automation, Institute of Medical Robotics, Key Laboratory of System Control and Information Processing, Ministry of Education, 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, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"last","author":{"id":null,"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"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":16.8128,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.98751296,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"32","issue":"2","first_page":"1993","last_page":"2006"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.994700014591217,"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":0.994700014591217,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9886000156402588,"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":0.9776999950408936,"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/initialization","display_name":"Initialization","score":0.6687999963760376},{"id":"https://openalex.org/keywords/rendering","display_name":"Rendering (computer graphics)","score":0.63919997215271},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.48489999771118164},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.46959999203681946},{"id":"https://openalex.org/keywords/prior-probability","display_name":"Prior probability","score":0.4596000015735626},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.39660000801086426},{"id":"https://openalex.org/keywords/visualization","display_name":"Visualization","score":0.37770000100135803},{"id":"https://openalex.org/keywords/gaussian-process","display_name":"Gaussian process","score":0.33410000801086426},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.3176000118255615}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8801000118255615},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6953999996185303},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.682699978351593},{"id":"https://openalex.org/C114466953","wikidata":"https://www.wikidata.org/wiki/Q6034165","display_name":"Initialization","level":2,"score":0.6687999963760376},{"id":"https://openalex.org/C205711294","wikidata":"https://www.wikidata.org/wiki/Q176953","display_name":"Rendering (computer graphics)","level":2,"score":0.63919997215271},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.48489999771118164},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.46959999203681946},{"id":"https://openalex.org/C177769412","wikidata":"https://www.wikidata.org/wiki/Q278090","display_name":"Prior probability","level":3,"score":0.4596000015735626},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.39660000801086426},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.37770000100135803},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.33410000801086426},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.3176000118255615},{"id":"https://openalex.org/C30684385","wikidata":"https://www.wikidata.org/wiki/Q176509","display_name":"Ringing","level":3,"score":0.3109999895095825},{"id":"https://openalex.org/C160633673","wikidata":"https://www.wikidata.org/wiki/Q355198","display_name":"Pixel","level":2,"score":0.3066999912261963},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.30559998750686646},{"id":"https://openalex.org/C124504099","wikidata":"https://www.wikidata.org/wiki/Q56933","display_name":"Image segmentation","level":3,"score":0.2953999936580658},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.29420000314712524},{"id":"https://openalex.org/C2984842247","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep neural networks","level":3,"score":0.2897999882698059},{"id":"https://openalex.org/C61224824","wikidata":"https://www.wikidata.org/wiki/Q2260434","display_name":"Mixture model","level":2,"score":0.2856999933719635},{"id":"https://openalex.org/C2778134712","wikidata":"https://www.wikidata.org/wiki/Q1047307","display_name":"Bundle","level":2,"score":0.2815999984741211},{"id":"https://openalex.org/C107673813","wikidata":"https://www.wikidata.org/wiki/Q812534","display_name":"Bayesian probability","level":2,"score":0.2800999879837036},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.27219998836517334},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.2705000042915344},{"id":"https://openalex.org/C108882727","wikidata":"https://www.wikidata.org/wiki/Q2991685","display_name":"Solid modeling","level":2,"score":0.26440000534057617},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.26429998874664307},{"id":"https://openalex.org/C36816356","wikidata":"https://www.wikidata.org/wiki/Q16911860","display_name":"3D rendering","level":3,"score":0.2596000134944916},{"id":"https://openalex.org/C57501372","wikidata":"https://www.wikidata.org/wiki/Q2021268","display_name":"BitTorrent tracker","level":3,"score":0.25040000677108765}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tvcg.2025.3617961","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tvcg.2025.3617961","pdf_url":null,"source":{"id":"https://openalex.org/S84775595","display_name":"IEEE Transactions on Visualization and Computer Graphics","issn_l":"1077-2626","issn":["1077-2626","1941-0506","2160-9306"],"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 Visualization and Computer Graphics","raw_type":"journal-article"},{"id":"pmid:41052116","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/41052116","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE transactions on visualization and computer graphics","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":63,"referenced_works":["https://openalex.org/W1612997784","https://openalex.org/W2009422376","https://openalex.org/W2124600577","https://openalex.org/W2130706354","https://openalex.org/W2133665775","https://openalex.org/W2293372129","https://openalex.org/W2471962767","https://openalex.org/W2535547924","https://openalex.org/W2594519801","https://openalex.org/W2670684868","https://openalex.org/W2738551266","https://openalex.org/W2744724495","https://openalex.org/W2951730755","https://openalex.org/W2963706662","https://openalex.org/W2967502479","https://openalex.org/W3043971245","https://openalex.org/W3089905794","https://openalex.org/W3153220274","https://openalex.org/W3175175721","https://openalex.org/W3176368002","https://openalex.org/W3177583232","https://openalex.org/W3203570626","https://openalex.org/W3215769467","https://openalex.org/W4200074884","https://openalex.org/W4200150166","https://openalex.org/W4214768561","https://openalex.org/W4221151978","https://openalex.org/W4312280100","https://openalex.org/W4312878643","https://openalex.org/W4312969460","https://openalex.org/W4383109324","https://openalex.org/W4385318467","https://openalex.org/W4386066489","https://openalex.org/W4386066696","https://openalex.org/W4386083072","https://openalex.org/W4386432320","https://openalex.org/W4389335080","https://openalex.org/W4390872696","https://openalex.org/W4390872919","https://openalex.org/W4390873648","https://openalex.org/W4399574562","https://openalex.org/W4400581064","https://openalex.org/W4401073449","https://openalex.org/W4402352146","https://openalex.org/W4402389384","https://openalex.org/W4402698355","https://openalex.org/W4402698358","https://openalex.org/W4402715988","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/W4407354548","https://openalex.org/W4409367446","https://openalex.org/W4411142742","https://openalex.org/W4413558613","https://openalex.org/W4413559338","https://openalex.org/W4415798784","https://openalex.org/W4416748885"],"related_works":[],"abstract_inverted_index":{"Gaussian":[0],"SLAM":[1,52],"systems":[2],"excel":[3],"in":[4,24,37,40,122],"real-time":[5],"rendering":[6,95],"and":[7,61,67,77,87,93,102,124],"fine-grained":[8],"reconstruction":[9],"compared":[10,126],"to":[11,90,127],"NeRF-based":[12],"systems.":[13],"However,":[14],"their":[15],"reliance":[16],"on":[17,112],"extensive":[18],"keyframes":[19,66],"is":[20],"impractical":[21],"for":[22,70],"deployment":[23],"real-world":[25],"robotic":[26],"systems,":[27],"which":[28],"typically":[29],"operate":[30],"under":[31],"sparse-view":[32],"conditions":[33],"that":[34,54,73,117],"can":[35],"result":[36],"substantial":[38],"holes":[39],"the":[41,50,57],"map.":[42],"To":[43],"address":[44],"these":[45],"challenges,":[46],"we":[47],"introduce":[48],"DenseSplat,":[49],"first":[51],"system":[53],"effectively":[55],"combines":[56],"advantages":[58],"of":[59],"NeRF":[60,68],"3DGS.":[62],"DenseSplat":[63,98,118],"utilizes":[64],"sparse":[65],"priors":[69],"initializing":[71],"primitives":[72],"densely":[74],"populate":[75],"maps":[76],"seamlessly":[78],"fill":[79],"gaps.":[80],"It":[81],"also":[82],"implements":[83],"geometry-aware":[84],"primitive":[85],"sampling":[86],"pruning":[88],"strategies":[89],"manage":[91],"granularity":[92],"enhance":[94],"efficiency.":[96],"Moreover,":[97],"integrates":[99],"loop":[100],"closure":[101],"bundle":[103],"adjustment,":[104],"significantly":[105],"enhancing":[106],"frame-to-frame":[107],"tracking":[108,123],"accuracy.":[109],"Extensive":[110],"experiments":[111],"multiple":[113],"large-scale":[114],"datasets":[115],"demonstrate":[116],"achieves":[119],"superior":[120],"performance":[121],"mapping":[125],"current":[128],"state-of-the-art":[129],"methods.":[130]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}