{"id":"https://openalex.org/W7133556798","doi":"https://doi.org/10.1109/hpca68181.2026.11408505","title":"SPLATONIC: Architectural Support for 3D Gaussian Splatting SLAM via Sparse Processing","display_name":"SPLATONIC: Architectural Support for 3D Gaussian Splatting SLAM via Sparse Processing","publication_year":2026,"publication_date":"2026-01-31","ids":{"openalex":"https://openalex.org/W7133556798","doi":"https://doi.org/10.1109/hpca68181.2026.11408505"},"language":null,"primary_location":{"id":"doi:10.1109/hpca68181.2026.11408505","is_oa":false,"landing_page_url":"https://doi.org/10.1109/hpca68181.2026.11408505","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2026 IEEE International Symposium on High Performance Computer Architecture (HPCA)","raw_type":"proceedings-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/A5128078522","display_name":"Xiaotong Huang","orcid":null},"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":true,"raw_author_name":"Xiaotong Huang","raw_affiliation_strings":["Shanghai Jiao Tong University"],"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128042426","display_name":"He Zhu","orcid":null},"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":"He Zhu","raw_affiliation_strings":["Shanghai Jiao Tong University"],"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075420600","display_name":"Tianrui Ma","orcid":"https://orcid.org/0000-0003-0894-6653"},"institutions":[{"id":"https://openalex.org/I4210090176","display_name":"Institute of Computing Technology","ror":"https://ror.org/0090r4d87","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210090176"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tianrui Ma","raw_affiliation_strings":["Institute of Computing Technology, Chinese Academy of Science"],"affiliations":[{"raw_affiliation_string":"Institute of Computing Technology, Chinese Academy of Science","institution_ids":["https://openalex.org/I4210090176"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128126559","display_name":"Yuxiang Xiong","orcid":null},"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":"Yuxiang Xiong","raw_affiliation_strings":["Shanghai Jiao Tong University"],"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017670541","display_name":"Fangxin Liu","orcid":"https://orcid.org/0000-0002-8769-293X"},"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":"Fangxin Liu","raw_affiliation_strings":["Shanghai Jiao Tong University"],"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101313923","display_name":"Zhezhi He","orcid":null},"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":"Zhezhi He","raw_affiliation_strings":["Shanghai Jiao Tong University"],"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012891934","display_name":"Yiming Gan","orcid":"https://orcid.org/0000-0002-2033-5057"},"institutions":[{"id":"https://openalex.org/I4210090176","display_name":"Institute of Computing Technology","ror":"https://ror.org/0090r4d87","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210090176"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yiming Gan","raw_affiliation_strings":["Institute of Computing Technology, Chinese Academy of Science"],"affiliations":[{"raw_affiliation_string":"Institute of Computing Technology, Chinese Academy of Science","institution_ids":["https://openalex.org/I4210090176"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128087019","display_name":"Zihan Liu","orcid":null},"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":"Zihan Liu","raw_affiliation_strings":["Shanghai Jiao Tong University"],"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003939279","display_name":"Jingwen Leng","orcid":"https://orcid.org/0000-0002-5660-5493"},"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":"Jingwen Leng","raw_affiliation_strings":["Shanghai Jiao Tong University"],"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086085686","display_name":"Feng Yu","orcid":"https://orcid.org/0000-0002-4745-5219"},"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":"Yu Feng","raw_affiliation_strings":["Shanghai Jiao Tong University"],"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5120913770","display_name":"Minyi Guo","orcid":null},"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":"Minyi Guo","raw_affiliation_strings":["Shanghai Jiao Tong University"],"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University","institution_ids":["https://openalex.org/I183067930"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":11,"corresponding_author_ids":["https://openalex.org/A5128078522"],"corresponding_institution_ids":["https://openalex.org/I183067930"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.50437112,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"14"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.7857999801635742,"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":0.7857999801635742,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.05169999971985817,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T10719","display_name":"3D Shape Modeling and Analysis","score":0.022700000554323196,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/sparse-approximation","display_name":"Sparse approximation","score":0.3856000006198883},{"id":"https://openalex.org/keywords/image-processing","display_name":"Image processing","score":0.32280001044273376},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.30889999866485596},{"id":"https://openalex.org/keywords/gaussian-process","display_name":"Gaussian process","score":0.2996000051498413},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.28610000014305115},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.2831999957561493}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6812000274658203},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5360999703407288},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5217000246047974},{"id":"https://openalex.org/C124066611","wikidata":"https://www.wikidata.org/wiki/Q28684319","display_name":"Sparse approximation","level":2,"score":0.3856000006198883},{"id":"https://openalex.org/C9417928","wikidata":"https://www.wikidata.org/wiki/Q1070689","display_name":"Image processing","level":3,"score":0.32280001044273376},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.30889999866485596},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.2996000051498413},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.29490000009536743},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.28610000014305115},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.2831999957561493},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.2782000005245209},{"id":"https://openalex.org/C56372850","wikidata":"https://www.wikidata.org/wiki/Q1050404","display_name":"Sparse matrix","level":3,"score":0.272599995136261},{"id":"https://openalex.org/C104267543","wikidata":"https://www.wikidata.org/wiki/Q208163","display_name":"Signal processing","level":3,"score":0.26409998536109924},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.26019999384880066}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/hpca68181.2026.11408505","is_oa":false,"landing_page_url":"https://doi.org/10.1109/hpca68181.2026.11408505","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2026 IEEE International Symposium on High Performance Computer Architecture (HPCA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.5018937587738037,"id":"https://metadata.un.org/sdg/11"}],"awards":[{"id":"https://openalex.org/G5913251986","display_name":null,"funder_award_id":"62532006,62402312","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":67,"referenced_works":["https://openalex.org/W1536680647","https://openalex.org/W1987648924","https://openalex.org/W1996856541","https://openalex.org/W2017745767","https://openalex.org/W2021851106","https://openalex.org/W2102605133","https://openalex.org/W2111308925","https://openalex.org/W2296228853","https://openalex.org/W2411093439","https://openalex.org/W2588191434","https://openalex.org/W2750632489","https://openalex.org/W2945853717","https://openalex.org/W2962992847","https://openalex.org/W2963150697","https://openalex.org/W2974134299","https://openalex.org/W3133253223","https://openalex.org/W3154683376","https://openalex.org/W4207072548","https://openalex.org/W4221160180","https://openalex.org/W4225379312","https://openalex.org/W4281642191","https://openalex.org/W4285676450","https://openalex.org/W4293811398","https://openalex.org/W4311806033","https://openalex.org/W4312878643","https://openalex.org/W4323065875","https://openalex.org/W4380874758","https://openalex.org/W4380875689","https://openalex.org/W4380881092","https://openalex.org/W4380881106","https://openalex.org/W4385318467","https://openalex.org/W4386066489","https://openalex.org/W4389162806","https://openalex.org/W4390873648","https://openalex.org/W4395106423","https://openalex.org/W4397028793","https://openalex.org/W4401169938","https://openalex.org/W4401211877","https://openalex.org/W4401212114","https://openalex.org/W4401416647","https://openalex.org/W4401725674","https://openalex.org/W4402698355","https://openalex.org/W4402698358","https://openalex.org/W4402716359","https://openalex.org/W4402727865","https://openalex.org/W4403666357","https://openalex.org/W4403843633","https://openalex.org/W4404545288","https://openalex.org/W4404954627","https://openalex.org/W4404955772","https://openalex.org/W4404965819","https://openalex.org/W4407196862","https://openalex.org/W4407197278","https://openalex.org/W4409248534","https://openalex.org/W4409248553","https://openalex.org/W4409248634","https://openalex.org/W4409248733","https://openalex.org/W4410204460","https://openalex.org/W4411471711","https://openalex.org/W4411486153","https://openalex.org/W4413146981","https://openalex.org/W4413156504","https://openalex.org/W4413559338","https://openalex.org/W4413926054","https://openalex.org/W4414198507","https://openalex.org/W7106131502","https://openalex.org/W7130402520"],"related_works":[],"abstract_inverted_index":{"3D":[0],"Gaussian":[1],"splatting":[2],"(3DGS)":[3],"has":[4],"emerged":[5,158],"as":[6],"a":[7,43,93,147],"promising":[8],"direction":[9],"for":[10,25,35,51],"SLAM":[11],"due":[12,28],"to":[13,29,75,115,172,190],"its":[14],"high-fidelity":[15],"reconstruction":[16],"and":[17,45,105,125,162,178,188,196],"rapid":[18],"convergence.":[19],"However,":[20],"3DGS-SLAM":[21,48,167],"algorithms":[22],"remain":[23],"impractical":[24],"mobile":[26,89,186],"platforms":[27],"their":[30,36],"high":[31],"computational":[32],"cost,":[33],"especially":[34],"tracking":[37],"process.":[38],"This":[39],"work":[40],"introduces":[41],"Splatonic,":[42],"sparse":[44,62],"efficient":[46],"realtime":[47],"algorithm-hardware":[49],"co-design":[50],"resourceconstrained":[52],"devices.":[53],"Inspired":[54],"by":[55,73,141],"classical":[56],"SLAMs,":[57],"we":[58,91,145],"propose":[59,146],"an":[60],"adaptive":[61],"pixel":[63],"sampling":[64],"algorithm":[65],"that":[66,98,150],"reduces":[67],"the":[68,122,152],"number":[69],"of":[70],"rendered":[71],"pixels":[72],"up":[74,114,171,189],"<tex":[76,107,116,126,173,179,191,197],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[77,108,117,127,174,180,192,198],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">$256":[78],"\\times$</tex>":[79,119,129,176,182,194,200],"while":[80,155],"retaining":[81],"accuracy.":[82,209],"To":[83,135],"unlock":[84],"this":[85],"performance":[86],"potential":[87],"on":[88,121,132],"GPUs,":[90],"design":[92,154],"novel":[94],"pixel-based":[95],"rendering":[96,104,143],"pipeline":[97],"improves":[99],"hardware":[100],"utilization":[101],"via":[102],"Gaussian-parallel":[103],"preemptive":[106],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">$\\alpha$</tex>-checking.":[109],"Together,":[110],"these":[111],"optimizations":[112],"yield":[113],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">$121.7":[118],"speedup":[120,131,177,195],"bottleneck":[123],"stages":[124],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">$14.6":[128],"end-toend":[130],"off-the-shelf":[133],"GPUs.":[134],"further":[136],"address":[137],"new":[138],"bottlenecks":[139,159],"introduced":[140],"our":[142],"pipeline,":[144],"pipelined":[148],"architecture":[149],"simplifies":[151],"overall":[153],"addressing":[156],"newly":[157],"in":[160],"projection":[161],"aggregation.":[163],"Evaluated":[164],"across":[165],"four":[166],"algorithms,":[168],"Splatonic":[169],"achieves":[170],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">$274.9":[175],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">$4738.5":[181],"energy":[183,201],"savings":[184,202],"over":[185,203],"GPUs":[187],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">$25.2":[193],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">$241.1":[199],"state-of-the-art":[204],"accelerators,":[205],"all":[206],"with":[207],"comparable":[208]},"counts_by_year":[],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2026-03-05T00:00:00"}
