{"id":"https://openalex.org/W7165059149","doi":"https://doi.org/10.48550/arxiv.2606.17935","title":"MoonSplat: Monocular Online Gaussian Splatting with Sim(3) Global Optimization","display_name":"MoonSplat: Monocular Online Gaussian Splatting with Sim(3) Global Optimization","publication_year":2026,"publication_date":"2026-06-16","ids":{"openalex":"https://openalex.org/W7165059149","doi":"https://doi.org/10.48550/arxiv.2606.17935"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2606.17935","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.17935","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":"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.2606.17935","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5004668645","display_name":"Guo Pu","orcid":"https://orcid.org/0000-0001-7833-907X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Pu, Guo","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137698341","display_name":"Yixuan Han","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Han, Yixuan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138812839","display_name":"Haofeng Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Haofeng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138772506","display_name":"Yao Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Yao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138827588","display_name":"Hui Zhou","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhou, Hui","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5138782110","display_name":"Zhouhui Lian","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lian, Zhouhui","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/T10531","display_name":"Advanced Vision and Imaging","score":0.5235000252723694,"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"}},"topics":[{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.5235000252723694,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.2590000033378601,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.04859999939799309,"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/monocular","display_name":"Monocular","score":0.6195999979972839},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6054999828338623},{"id":"https://openalex.org/keywords/rendering","display_name":"Rendering (computer graphics)","score":0.5605999827384949},{"id":"https://openalex.org/keywords/3d-reconstruction","display_name":"3D reconstruction","score":0.40860000252723694},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.385699987411499},{"id":"https://openalex.org/keywords/residual","display_name":"Residual","score":0.36079999804496765},{"id":"https://openalex.org/keywords/global-optimization","display_name":"Global optimization","score":0.35199999809265137},{"id":"https://openalex.org/keywords/generalizability-theory","display_name":"Generalizability theory","score":0.350600004196167}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8305000066757202},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7483999729156494},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6978999972343445},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.6195999979972839},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6054999828338623},{"id":"https://openalex.org/C205711294","wikidata":"https://www.wikidata.org/wiki/Q176953","display_name":"Rendering (computer graphics)","level":2,"score":0.5605999827384949},{"id":"https://openalex.org/C109950114","wikidata":"https://www.wikidata.org/wiki/Q4464732","display_name":"3D reconstruction","level":2,"score":0.40860000252723694},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.385699987411499},{"id":"https://openalex.org/C155512373","wikidata":"https://www.wikidata.org/wiki/Q287450","display_name":"Residual","level":2,"score":0.36079999804496765},{"id":"https://openalex.org/C164752517","wikidata":"https://www.wikidata.org/wiki/Q5570875","display_name":"Global optimization","level":2,"score":0.35199999809265137},{"id":"https://openalex.org/C27158222","wikidata":"https://www.wikidata.org/wiki/Q5532422","display_name":"Generalizability theory","level":2,"score":0.350600004196167},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.3440999984741211},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.33880001306533813},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.3375999927520752},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.3190999925136566},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.31029999256134033},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.30329999327659607},{"id":"https://openalex.org/C44185422","wikidata":"https://www.wikidata.org/wiki/Q6002064","display_name":"Image-based modeling and rendering","level":3,"score":0.27489998936653137},{"id":"https://openalex.org/C3018868555","wikidata":"https://www.wikidata.org/wiki/Q2918907","display_name":"Single camera","level":2,"score":0.26739999651908875},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.2651999890804291},{"id":"https://openalex.org/C166550679","wikidata":"https://www.wikidata.org/wiki/Q263400","display_name":"Gaussian network model","level":3,"score":0.25859999656677246},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.2581000030040741},{"id":"https://openalex.org/C141379421","wikidata":"https://www.wikidata.org/wiki/Q6094427","display_name":"Iterative reconstruction","level":2,"score":0.25690001249313354}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2606.17935","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.17935","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":"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.2606.17935","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.17935","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":"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":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Online":[0],"3D":[1,14,26,198],"reconstruction":[2,27,95,183,199],"from":[3,58],"monocular":[4],"image":[5],"sequences":[6],"is":[7],"a":[8,41,88,130,179],"challenging":[9],"and":[10,35,49,73,90,107,116,151,167,177,193,203],"ongoing":[11],"research":[12],"topic.":[13],"Gaussian":[15],"Splatting":[16],"(3DGS),":[17],"leveraging":[18],"its":[19,191],"high-quality":[20],"real-time":[21,172],"rendering":[22,144,168],"capability,":[23],"empowers":[24],"online":[25,53,92,197],"to":[28,67],"represent":[29],"dense":[30],"scenes":[31],"with":[32,98],"enhanced":[33],"expressiveness,":[34],"thus":[36],"holds":[37],"great":[38],"promise":[39],"for":[40,112,195],"wide":[42],"range":[43],"of":[44,70,123],"applications":[45],"such":[46],"as":[47],"robotics":[48],"AR/VR.":[50],"However,":[51],"existing":[52],"3DGS":[54,94],"methods":[55],"still":[56],"suffer":[57],"some":[59],"key":[60],"challenges:":[61],"fragile":[62],"camera":[63,105,114,163],"pose":[64,164],"estimation":[65,165],"due":[66],"the":[68,121,124],"lack":[69],"global":[71,99,109],"optimization,":[72,101],"low":[74],"optimization":[75,139],"efficiency":[76],"in":[77,161],"large-scale":[78],"or":[79],"long-sequence":[80],"scenarios.":[81],"To":[82,119],"address":[83],"these":[84],"issues,":[85],"we":[86,127,175],"propose":[87],"robust":[89],"efficient":[91,108],"voxelized":[93,117,125],"framework":[96],"integrated":[97],"$\\text{Sim}(3)$":[100],"which":[102,135],"enables":[103],"reliable":[104],"tracking":[106],"loop":[110],"closure":[111],"both":[113,162],"poses":[115],"3DGS.":[118],"accelerate":[120],"convergence":[122],"3DGS,":[126],"further":[128],"introduce":[129],"color":[131],"residual":[132],"learning":[133],"strategy,":[134],"not":[136],"only":[137],"boosts":[138],"speed":[140],"but":[141],"also":[142],"enhances":[143],"quality.":[145],"Extensive":[146],"experiments":[147],"on":[148,186],"diverse":[149],"indoor":[150],"outdoor":[152],"datasets":[153],"demonstrate":[154],"that":[155],"our":[156,187],"method":[157],"achieves":[158],"state-of-the-art":[159],"performance":[160],"accuracy":[166],"quality,":[169],"while":[170],"retaining":[171],"efficiency.":[173],"Additionally,":[174],"develop":[176],"deploy":[178],"real-world":[180],"UAV-based":[181],"active":[182],"system":[184],"grounded":[185],"proposed":[188],"method,":[189],"validating":[190],"robustness":[192],"generalizability":[194],"practical":[196],"tasks.":[200],"Our":[201],"code":[202],"data":[204],"are":[205],"available":[206],"at":[207],"https://github.com/TrickyGo/MoonSplat.":[208]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-06-18T00:00:00"}