{"id":"https://openalex.org/W7147664412","doi":"https://doi.org/10.48550/arxiv.2603.29005","title":"Gleanmer: A 6 mW SoC for Real-Time 3D Gaussian Occupancy Mapping","display_name":"Gleanmer: A 6 mW SoC for Real-Time 3D Gaussian Occupancy Mapping","publication_year":2026,"publication_date":"2026-03-30","ids":{"openalex":"https://openalex.org/W7147664412","doi":"https://doi.org/10.48550/arxiv.2603.29005"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2603.29005","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.29005","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2603.29005","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5025780886","display_name":"Zih-Sing Fu","orcid":"https://orcid.org/0000-0003-4061-0404"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Fu, Zih-Sing","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072075883","display_name":"Peter Zhi Xuan Li","orcid":"https://orcid.org/0000-0002-5260-4995"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Peter Zhi Xuan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081073767","display_name":"Serta\u00e7 Karaman","orcid":"https://orcid.org/0000-0002-2225-7275"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Karaman, Sertac","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5066351389","display_name":"Vivienne Sze","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sze, Vivienne","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5025780886"],"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":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11527","display_name":"3D IC and TSV technologies","score":0.13779999315738678,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/T11527","display_name":"3D IC and TSV technologies","score":0.13779999315738678,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/T10481","display_name":"Computer Graphics and Visualization Techniques","score":0.1143999993801117,"subfield":{"id":"https://openalex.org/subfields/1704","display_name":"Computer Graphics and Computer-Aided Design"},"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/T10054","display_name":"Parallel Computing and Optimization Techniques","score":0.08969999849796295,"subfield":{"id":"https://openalex.org/subfields/1708","display_name":"Hardware and Architecture"},"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/computation","display_name":"Computation","score":0.7027999758720398},{"id":"https://openalex.org/keywords/occupancy","display_name":"Occupancy","score":0.692300021648407},{"id":"https://openalex.org/keywords/occupancy-grid-mapping","display_name":"Occupancy grid mapping","score":0.579800009727478},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.5023999810218811},{"id":"https://openalex.org/keywords/reuse","display_name":"Reuse","score":0.45820000767707825},{"id":"https://openalex.org/keywords/power","display_name":"Power (physics)","score":0.43790000677108765},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.430400013923645},{"id":"https://openalex.org/keywords/chip","display_name":"Chip","score":0.4108999967575073}],"concepts":[{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.7027999758720398},{"id":"https://openalex.org/C160331591","wikidata":"https://www.wikidata.org/wiki/Q7075743","display_name":"Occupancy","level":2,"score":0.692300021648407},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6251000165939331},{"id":"https://openalex.org/C57077369","wikidata":"https://www.wikidata.org/wiki/Q7075747","display_name":"Occupancy grid mapping","level":4,"score":0.579800009727478},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.5023999810218811},{"id":"https://openalex.org/C206588197","wikidata":"https://www.wikidata.org/wiki/Q846574","display_name":"Reuse","level":2,"score":0.45820000767707825},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.43790000677108765},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.430400013923645},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.41609999537467957},{"id":"https://openalex.org/C165005293","wikidata":"https://www.wikidata.org/wiki/Q1074500","display_name":"Chip","level":2,"score":0.4108999967575073},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.4090999960899353},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3982999920845032},{"id":"https://openalex.org/C53533937","wikidata":"https://www.wikidata.org/wiki/Q185020","display_name":"Histogram","level":3,"score":0.3499000072479248},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.32339999079704285},{"id":"https://openalex.org/C61224824","wikidata":"https://www.wikidata.org/wiki/Q2260434","display_name":"Mixture model","level":2,"score":0.3156000077724457},{"id":"https://openalex.org/C459310","wikidata":"https://www.wikidata.org/wiki/Q117801","display_name":"Computational science","level":1,"score":0.31310001015663147},{"id":"https://openalex.org/C118021083","wikidata":"https://www.wikidata.org/wiki/Q610398","display_name":"System on a chip","level":2,"score":0.31200000643730164},{"id":"https://openalex.org/C2742236","wikidata":"https://www.wikidata.org/wiki/Q924713","display_name":"Efficient energy use","level":2,"score":0.3100000023841858},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.30480000376701355},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.30399999022483826},{"id":"https://openalex.org/C137314826","wikidata":"https://www.wikidata.org/wiki/Q2330408","display_name":"Data mapping","level":2,"score":0.2847999930381775},{"id":"https://openalex.org/C87833898","wikidata":"https://www.wikidata.org/wiki/Q1060280","display_name":"Advanced driver assistance systems","level":2,"score":0.27730000019073486},{"id":"https://openalex.org/C9390403","wikidata":"https://www.wikidata.org/wiki/Q3966","display_name":"Computer hardware","level":1,"score":0.2736000120639801},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.2671000063419342}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2603.29005","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.29005","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2603.29005","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.29005","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.6571931838989258,"id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"High-fidelity":[0],"3D":[1,36,114],"occupancy":[2,37,115],"mapping":[3,116],"is":[4,17,106],"essential":[5],"for":[6,33,44,120],"many":[7],"edge-based":[8,121],"applications":[9],"(such":[10],"as":[11],"AR/VR":[12],"and":[13,47,57,64,92],"autonomous":[14],"navigation)":[15],"but":[16],"limited":[18],"by":[19,60,74],"power":[20],"constraints.":[21],"We":[22],"present":[23],"Gleanmer,":[24],"a":[25,35],"system":[26],"on":[27,69],"chip":[28],"(SoC)":[29],"with":[30],"an":[31],"accelerator":[32,72],"GMMap,":[34],"map":[38,90,100],"using":[39],"Gaussians.":[40],"Through":[41],"algorithm-hardware":[42],"co-optimizations":[43],"direct":[45],"computation":[46,68],"efficient":[48],"reuse":[49],"of":[50],"these":[51],"compact":[52],"Gaussians,":[53],"Gleanmer":[54,79,105],"reduces":[55,71],"construction":[56,91],"query":[58],"energy":[59],"up":[61],"to":[62,111],"63%":[63],"81%,":[65],"respectively.":[66],"Approximate":[67],"Gaussians":[70],"area":[73],"38%.":[75],"Using":[76],"16nm":[77],"CMOS,":[78],"processes":[80,93],"640x480":[81],"images":[82],"in":[83],"real":[84],"time":[85],"beyond":[86],"88":[87],"fps":[88],"during":[89,99],"over":[94],"540K":[95],"coordinates":[96],"per":[97],"second":[98],"query.":[101],"To":[102],"our":[103],"knowledge,":[104],"the":[107],"first":[108],"fabricated":[109],"SoC":[110],"achieve":[112],"real-time":[113],"under":[117],"6":[118],"mW":[119],"applications.":[122]},"counts_by_year":[],"updated_date":"2026-05-05T08:41:31.759640","created_date":"2026-04-02T00:00:00"}