{"id":"https://openalex.org/W7110045845","doi":"https://doi.org/10.1145/3757377.3763932","title":"GigaSLAM: Large-Scale Monocular SLAM with Hierarchical Gaussian Splats","display_name":"GigaSLAM: Large-Scale Monocular SLAM with Hierarchical Gaussian Splats","publication_year":2025,"publication_date":"2025-12-08","ids":{"openalex":"https://openalex.org/W7110045845","doi":"https://doi.org/10.1145/3757377.3763932"},"language":null,"primary_location":{"id":"doi:10.1145/3757377.3763932","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3757377.3763932","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the SIGGRAPH Asia 2025 Conference Papers","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":null,"display_name":"Kai Deng","orcid":"https://orcid.org/0009-0003-2865-8736"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Kai Deng","raw_affiliation_strings":["Nankai University, Tianjin, China"],"affiliations":[{"raw_affiliation_string":"Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Yigong Zhang","orcid":"https://orcid.org/0000-0002-4625-5688"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yigong Zhang","raw_affiliation_strings":["Nankai University, Tianjin, China"],"affiliations":[{"raw_affiliation_string":"Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Jian Yang","orcid":"https://orcid.org/0000-0003-4800-832X"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jian Yang","raw_affiliation_strings":["Nankai University, Tianjin, China"],"affiliations":[{"raw_affiliation_string":"Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"last","author":{"id":null,"display_name":"Jin Xie","orcid":"https://orcid.org/0000-0002-4933-5229"},"institutions":[{"id":"https://openalex.org/I3923682","display_name":"Soochow University","ror":"https://ror.org/05t8y2r12","country_code":"CN","type":"education","lineage":["https://openalex.org/I3923682"]},{"id":"https://openalex.org/I881766915","display_name":"Nanjing University","ror":"https://ror.org/01rxvg760","country_code":"CN","type":"education","lineage":["https://openalex.org/I881766915"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jin Xie","raw_affiliation_strings":["Nanjing University, Suzhou, China"],"affiliations":[{"raw_affiliation_string":"Nanjing University, Suzhou, China","institution_ids":["https://openalex.org/I3923682","https://openalex.org/I881766915"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I205237279"],"apc_list":null,"apc_paid":null,"fwci":15.6548,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.98628364,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":null,"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":0.9575999975204468,"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":0.9575999975204468,"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":0.007899999618530273,"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/T10719","display_name":"3D Shape Modeling and Analysis","score":0.004900000058114529,"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/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.6973999738693237},{"id":"https://openalex.org/keywords/epipolar-geometry","display_name":"Epipolar geometry","score":0.5870000123977661},{"id":"https://openalex.org/keywords/rendering","display_name":"Rendering (computer graphics)","score":0.5633000135421753},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.5117999911308289},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5073999762535095},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.4706000089645386},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.4009999930858612},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.3619000017642975}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7547000050544739},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7430999875068665},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6973999738693237},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.690500020980835},{"id":"https://openalex.org/C23379248","wikidata":"https://www.wikidata.org/wiki/Q200904","display_name":"Epipolar geometry","level":3,"score":0.5870000123977661},{"id":"https://openalex.org/C205711294","wikidata":"https://www.wikidata.org/wiki/Q176953","display_name":"Rendering (computer graphics)","level":2,"score":0.5633000135421753},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.5117999911308289},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5073999762535095},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.4706000089645386},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.4009999930858612},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.3619000017642975},{"id":"https://openalex.org/C141297171","wikidata":"https://www.wikidata.org/wiki/Q1143237","display_name":"Octree","level":2,"score":0.31450000405311584},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.30889999866485596},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.302700012922287},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.289000004529953},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.28439998626708984},{"id":"https://openalex.org/C61224824","wikidata":"https://www.wikidata.org/wiki/Q2260434","display_name":"Mixture model","level":2,"score":0.28060001134872437},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.26499998569488525},{"id":"https://openalex.org/C2987571089","wikidata":"https://www.wikidata.org/wiki/Q738160","display_name":"Multi camera","level":2,"score":0.257099986076355},{"id":"https://openalex.org/C3018868555","wikidata":"https://www.wikidata.org/wiki/Q2918907","display_name":"Single camera","level":2,"score":0.2522999942302704}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3757377.3763932","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3757377.3763932","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the SIGGRAPH Asia 2025 Conference Papers","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.8371032476425171}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W612478963","https://openalex.org/W1612997784","https://openalex.org/W1989484209","https://openalex.org/W2021851106","https://openalex.org/W2133665775","https://openalex.org/W2461937780","https://openalex.org/W2471962767","https://openalex.org/W2535547924","https://openalex.org/W2884962765","https://openalex.org/W2962785568","https://openalex.org/W2963706662","https://openalex.org/W3035172746","https://openalex.org/W3043971245","https://openalex.org/W3087815220","https://openalex.org/W3194532238","https://openalex.org/W3203597819","https://openalex.org/W4200150166","https://openalex.org/W4214768561","https://openalex.org/W4221151978","https://openalex.org/W4236769309","https://openalex.org/W4312878643","https://openalex.org/W4385318467","https://openalex.org/W4390872507","https://openalex.org/W4390872919","https://openalex.org/W4390873648","https://openalex.org/W4402698355","https://openalex.org/W4402698358","https://openalex.org/W4402716405","https://openalex.org/W4402727115","https://openalex.org/W4402727865","https://openalex.org/W4402816534","https://openalex.org/W4403562222","https://openalex.org/W4410204460","https://openalex.org/W4412588576","https://openalex.org/W4414197737","https://openalex.org/W7101647072"],"related_works":[],"abstract_inverted_index":{"Tracking":[0],"and":[1,25,91,112,138,155],"mapping":[2,90],"in":[3],"large-scale,":[4,152],"unbounded":[5,97,166],"outdoor":[6,54,144,167],"environments":[7],"using":[8],"only":[9],"monocular":[10],"RGB":[11],"input":[12],"presents":[13],"substantial":[14],"challenges":[15],"for":[16,52,151],"existing":[17],"SLAM":[18,30,50,149,163],"systems.":[19],"Traditional":[20],"Neural":[21],"Radiance":[22],"Fields":[23],"(NeRF)":[24],"3D":[26],"Gaussian":[27,161],"Splatting":[28,162],"(3DGS)":[29],"methods":[31],"are":[32,75],"typically":[33],"limited":[34],"to":[35,115,126,165],"small,":[36],"bounded":[37],"indoor":[38],"settings.":[39],"To":[40],"overcome":[41],"these":[42],"challenges,":[43],"we":[44],"introduce":[45],"GigaSLAM,":[46],"the":[47,60,158],"first":[48],"NeRF/3DGS-based":[49],"framework":[51],"kilometer-scale":[53,62],"environments,":[55],"as":[56],"mainly":[57],"demonstrated":[58],"on":[59,142],"4":[61],"datasets.":[63],"Our":[64],"approach":[65],"employs":[66],"a":[67,104,121,147],"hierarchical":[68],"sparse":[69],"voxel":[70],"map":[71],"representation,":[72],"where":[73],"Gaussians":[74],"decoded":[76],"by":[77],"neural":[78],"networks":[79],"at":[80],"multiple":[81],"levels":[82],"of":[83,160],"detail.":[84],"This":[85],"design":[86],"enables":[87],"efficient,":[88],"scalable":[89],"high-fidelity":[92],"viewpoint":[93],"rendering":[94,141],"across":[95],"expansive,":[96],"scenes.":[98],"For":[99],"front-end":[100],"tracking,":[101],"GigaSLAM":[102,134],"utilizes":[103],"metric":[105],"depth":[106],"model":[107],"combined":[108],"with":[109],"epipolar":[110],"geometry":[111],"PnP":[113],"algorithms":[114],"accurately":[116],"estimate":[117],"poses,":[118],"while":[119],"incorporating":[120],"Bag-of-Words-based":[122],"loop":[123],"closure":[124],"mechanism":[125],"maintain":[127],"robust":[128,148],"alignment":[129],"over":[130],"long":[131],"trajectories.":[132],"Consequently,":[133],"delivers":[135],"high-precision":[136],"tracking":[137],"visually":[139],"faithful":[140],"urban":[143],"benchmarks,":[145],"establishing":[146],"solution":[150],"long-term":[153],"scenarios,":[154],"significantly":[156],"extending":[157],"applicability":[159],"systems":[164],"environments.":[168]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":1}],"updated_date":"2026-04-03T22:45:19.894376","created_date":"2025-12-08T00:00:00"}
