{"id":"https://openalex.org/W4402030045","doi":"https://doi.org/10.1145/3669754.3669798","title":"HFN-SLAM:Hybrid Scene Neural Representation SLAM Based on Frame Alignment and Normal Consistency","display_name":"HFN-SLAM:Hybrid Scene Neural Representation SLAM Based on Frame Alignment and Normal Consistency","publication_year":2024,"publication_date":"2024-04-26","ids":{"openalex":"https://openalex.org/W4402030045","doi":"https://doi.org/10.1145/3669754.3669798"},"language":"en","primary_location":{"id":"doi:10.1145/3669754.3669798","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3669754.3669798","pdf_url":null,"source":null,"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2024 10th International Conference on Computing and Artificial Intelligence","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.1145/3669754.3669798","any_repository_has_fulltext":null},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100570518","display_name":"Yu Liang","orcid":"https://orcid.org/0000-0003-1636-6704"},"institutions":[{"id":"https://openalex.org/I3131625388","display_name":"University Town of Shenzhen","ror":"https://ror.org/05f5j6225","country_code":"CN","type":"education","lineage":["https://openalex.org/I3131625388"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yu Liang","raw_affiliation_strings":["Shenzhen International Graduate School, Tsinghua University, China"],"raw_orcid":"https://orcid.org/0000-0003-1636-6704","affiliations":[{"raw_affiliation_string":"Shenzhen International Graduate School, Tsinghua University, China","institution_ids":["https://openalex.org/I3131625388","https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037641852","display_name":"Yuhong Yuan","orcid":"https://orcid.org/0009-0008-2485-9238"},"institutions":[{"id":"https://openalex.org/I3131625388","display_name":"University Town of Shenzhen","ror":"https://ror.org/05f5j6225","country_code":"CN","type":"education","lineage":["https://openalex.org/I3131625388"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuhong Yuan","raw_affiliation_strings":["Shenzhen International Graduate School, Tsinghua University, China"],"raw_orcid":"https://orcid.org/0009-0008-2485-9238","affiliations":[{"raw_affiliation_string":"Shenzhen International Graduate School, Tsinghua University, China","institution_ids":["https://openalex.org/I3131625388","https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Mingbo Yang","orcid":"https://orcid.org/0009-0003-8157-8292"},"institutions":[{"id":"https://openalex.org/I3131625388","display_name":"University Town of Shenzhen","ror":"https://ror.org/05f5j6225","country_code":"CN","type":"education","lineage":["https://openalex.org/I3131625388"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mingbo Yang","raw_affiliation_strings":["Shenzhen International Graduate School, Tsinghua University, China"],"raw_orcid":"https://orcid.org/0009-0003-8157-8292","affiliations":[{"raw_affiliation_string":"Shenzhen International Graduate School, Tsinghua University, China","institution_ids":["https://openalex.org/I3131625388","https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056950159","display_name":"Dongxu Duan","orcid":"https://orcid.org/0009-0008-1281-5115"},"institutions":[{"id":"https://openalex.org/I3131625388","display_name":"University Town of Shenzhen","ror":"https://ror.org/05f5j6225","country_code":"CN","type":"education","lineage":["https://openalex.org/I3131625388"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dongxu Duan","raw_affiliation_strings":["Shenzhen International Graduate School, Tsinghua University, China"],"raw_orcid":"https://orcid.org/0009-0008-1281-5115","affiliations":[{"raw_affiliation_string":"Shenzhen International Graduate School, Tsinghua University, China","institution_ids":["https://openalex.org/I3131625388","https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101871787","display_name":"Kai Zhang","orcid":"https://orcid.org/0000-0002-5826-3765"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kai Zhang","raw_affiliation_strings":["Shenzhen International Graduate School, Tsinghua University, China and Research Institute of Tsinghua, Pearl River Delta, China"],"raw_orcid":"https://orcid.org/0000-0002-5826-3765","affiliations":[{"raw_affiliation_string":"Shenzhen International Graduate School, Tsinghua University, China and Research Institute of Tsinghua, Pearl River Delta, China","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"295","last_page":"300"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9986000061035156,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9980999827384949,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6793152093887329},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6742708683013916},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6515573263168335},{"id":"https://openalex.org/keywords/consistency","display_name":"Consistency (knowledge bases)","score":0.6365276575088501},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.625106930732727},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5916575789451599},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.5530732274055481},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.21856427192687988},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.14526009559631348}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6793152093887329},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6742708683013916},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6515573263168335},{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.6365276575088501},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.625106930732727},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5916575789451599},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.5530732274055481},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.21856427192687988},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.14526009559631348},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3669754.3669798","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3669754.3669798","pdf_url":null,"source":null,"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2024 10th International Conference on Computing and Artificial Intelligence","raw_type":"proceedings-article"}],"best_oa_location":{"id":"doi:10.1145/3669754.3669798","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3669754.3669798","pdf_url":null,"source":null,"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2024 10th International Conference on Computing and Artificial Intelligence","raw_type":"proceedings-article"},"sustainable_development_goals":[{"display_name":"Reduced inequalities","score":0.41999998688697815,"id":"https://metadata.un.org/sdg/10"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W612478963","https://openalex.org/W2108134361","https://openalex.org/W2119848633","https://openalex.org/W2250172176","https://openalex.org/W2594519801","https://openalex.org/W2951730755","https://openalex.org/W2963627347","https://openalex.org/W2979652999","https://openalex.org/W3112108866","https://openalex.org/W3177963522","https://openalex.org/W3202037070","https://openalex.org/W3215589927","https://openalex.org/W4200150166","https://openalex.org/W4214768561","https://openalex.org/W4287114999","https://openalex.org/W4307783807","https://openalex.org/W4312325284","https://openalex.org/W4312878643","https://openalex.org/W4321512716","https://openalex.org/W4383503637","https://openalex.org/W4386066812","https://openalex.org/W4390873648","https://openalex.org/W6798033281"],"related_works":["https://openalex.org/W28570768","https://openalex.org/W2912965286","https://openalex.org/W1603736412","https://openalex.org/W2949553486","https://openalex.org/W4385801697","https://openalex.org/W2062195135","https://openalex.org/W4288626232","https://openalex.org/W4304185162","https://openalex.org/W2061685118","https://openalex.org/W3006282800"],"abstract_inverted_index":{"Recent":[0],"advancements":[1],"in":[2,19,28,181],"SLAM":[3,60],"based":[4],"on":[5,156,174],"neural":[6],"radiance":[7],"fields":[8],"have":[9],"demonstrated":[10],"promising":[11],"performance.":[12,188],"However,":[13],"existing":[14,179],"methods":[15,180],"still":[16],"exhibit":[17],"shortcomings":[18],"terms":[20],"of":[21,38],"reconstruction":[22,68,77,105,184],"and":[23,42,69,99,118,185],"pose":[24],"estimation":[25],"accuracy,":[26],"particularly":[27],"medium-to-large":[29],"indoor":[30],"scenes.":[31,89],"These":[32],"limitations":[33],"stem":[34],"from":[35],"inadequate":[36],"utilization":[37],"structural":[39],"scene":[40,67,76,104,143,162,183],"information":[41,114],"ineffective":[43],"constraint":[44],"handling":[45],"for":[46,88],"cumulative":[47],"errors":[48,137],"between":[49,115,138],"sequences.":[50],"To":[51,73,111],"address":[52],"these":[53],"challenges,":[54],"we":[55,82,123,145],"introduce":[56,124],"HFN-SLAM,":[57],"a":[58,84,125,147,175],"neurovisual":[59],"system":[61],"designed":[62],"to":[63,141],"achieve":[64],"real-time,":[65],"high-fidelity":[66],"robust":[70],"camera":[71,186],"tracking.":[72],"attain":[74],"fine-grained":[75],"without":[78],"compromising":[79],"real-time":[80],"performance,":[81],"propose":[83,146],"hybrid":[85],"representation":[86],"method":[87,91,153,169],"This":[90,128,152],"integrates":[92],"high-resolution,":[93],"dense":[94],"3D":[95],"hash":[96],"grid":[97],"features":[98],"2D":[100],"plane":[101],"features,":[102],"enhancing":[103],"accuracy":[106],"while":[107],"minimizing":[108],"parameter":[109],"overhead.":[110],"effectively":[112],"leverage":[113],"input":[116,132],"frames":[117],"mitigate":[119],"accumulated":[120],"sequence":[121],"errors,":[122],"frame-aligned":[126],"algorithm.":[127],"algorithm":[129],"globally":[130],"aligns":[131],"sequences":[133],"by":[134],"constraining":[135],"reprojection":[136],"keyframes.":[139],"Furthermore,":[140],"enhance":[142],"details,":[144],"region-aware":[148],"normal":[149],"consistency":[150],"method.":[151],"implements":[154],"constraints":[155],"large":[157],"planar":[158],"scenes,":[159],"facilitating":[160],"detailed":[161],"reconstruction.":[163],"Experimental":[164],"results":[165],"demonstrate":[166],"that":[167],"our":[168],"operates":[170],"at":[171],"3-5":[172],"Hz":[173],"desktop":[176],"PC,":[177],"surpassing":[178],"both":[182],"tracking":[187]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}