{"id":"https://openalex.org/W7151498249","doi":"https://doi.org/10.48550/arxiv.2604.04642","title":"WaterSplat-SLAM: Photorealistic Monocular SLAM in Underwater Environment","display_name":"WaterSplat-SLAM: Photorealistic Monocular SLAM in Underwater Environment","publication_year":2026,"publication_date":"2026-04-06","ids":{"openalex":"https://openalex.org/W7151498249","doi":"https://doi.org/10.48550/arxiv.2604.04642"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2604.04642","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.04642","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2604.04642","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5133065373","display_name":"Kangxu Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Kangxu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012545205","display_name":"Shaofeng Zou","orcid":"https://orcid.org/0000-0002-2821-6941"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zou, Shaofeng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5133076666","display_name":"Chenxing Jiang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jiang, Chenxing","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5133114147","display_name":"Yixiang Dai","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Dai, Yixiang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5133092684","display_name":"Siang Chen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Siang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5133141741","display_name":"Shaojie Shen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shen, Shaojie","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5045183950","display_name":"Guijin Wang","orcid":"https://orcid.org/0000-0002-2131-3044"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Guijin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"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":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9354000091552734,"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":0.9354000091552734,"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/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.010700000450015068,"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"}},{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.008200000040233135,"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/underwater","display_name":"Underwater","score":0.7874000072479248},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.7279999852180481},{"id":"https://openalex.org/keywords/rendering","display_name":"Rendering (computer graphics)","score":0.6057000160217285},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.5557000041007996},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.39590001106262207},{"id":"https://openalex.org/keywords/remotely-operated-underwater-vehicle","display_name":"Remotely operated underwater vehicle","score":0.3427000045776367}],"concepts":[{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.7874000072479248},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7544000148773193},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.7279999852180481},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7276999950408936},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6122999787330627},{"id":"https://openalex.org/C205711294","wikidata":"https://www.wikidata.org/wiki/Q176953","display_name":"Rendering (computer graphics)","level":2,"score":0.6057000160217285},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.5557000041007996},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.39590001106262207},{"id":"https://openalex.org/C145424490","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated underwater vehicle","level":4,"score":0.3427000045776367},{"id":"https://openalex.org/C158829959","wikidata":"https://www.wikidata.org/wiki/Q1640606","display_name":"Monocular vision","level":2,"score":0.313400000333786},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.3052999973297119},{"id":"https://openalex.org/C109950114","wikidata":"https://www.wikidata.org/wiki/Q4464732","display_name":"3D reconstruction","level":2,"score":0.2768000066280365},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.26829999685287476}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2604.04642","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.04642","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2604.04642","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.04642","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","display_name":"Life below water","score":0.8211537003517151}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Underwater":[0],"monocular":[1,36],"SLAM":[2,19,38],"is":[3],"a":[4,34,71,89],"challenging":[5],"problem":[6],"with":[7,25,79],"applications":[8],"from":[9],"autonomous":[10],"underwater":[11,18,37,86,97,110],"vehicles":[12],"to":[13,22,60],"marine":[14],"archaeology.":[15],"However,":[16],"existing":[17],"methods":[20],"struggle":[21],"produce":[23],"maps":[24],"high-fidelity":[26,107],"rendering.":[27],"In":[28],"this":[29],"paper,":[30],"we":[31,50,69],"propose":[32],"WaterSplat-SLAM,":[33],"novel":[35],"system":[39],"that":[40,100],"achieves":[41,102],"robust":[42,103],"pose":[43],"estimation":[44],"and":[45,65,74,91,106],"photorealistic":[46,90],"dense":[47],"mapping.":[48],"Specifically,":[49],"couple":[51],"semantic":[52],"medium":[53],"filtering":[54],"into":[55],"two-view":[56],"3D":[57],"reconstruction":[58],"prior":[59],"enable":[61],"underwater-adapted":[62],"camera":[63,104],"tracking":[64,105],"depth":[66],"estimation.":[67],"Furthermore,":[68],"present":[70],"semantic-guided":[72],"rendering":[73,108],"adaptive":[75],"map":[76],"management":[77],"strategy":[78],"an":[80],"online":[81],"medium-aware":[82],"Gaussian":[83],"map,":[84],"modeling":[85],"environment":[87],"in":[88,109],"compact":[92],"manner.":[93],"Experiments":[94],"on":[95],"multiple":[96],"datasets":[98],"demonstrate":[99],"WaterSplat-SLAM":[101],"environments.":[111]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-04-08T00:00:00"}
