[{"data":1,"prerenderedAt":604},["ShallowReactive",2],{"method-livgs2025":3},{"method":4,"reference":54,"equipment":75,"figures":113,"results":114},{"id":5,"label":6,"shortName":7,"title":8,"year":9,"era":10,"cluster":11,"scope":12,"keyIdeaZh":13,"keyIdeaEn":14,"fulltextStatus":15,"publicationStatus":16,"recommendation":17,"constructionRelevance":18,"validationEnvironment":19,"strengths":21,"limitations":25,"sensors":31,"platform":34,"estimator":37,"association":38,"timeModel":39,"deskew":40,"loopClosure":41,"globalOptimization":42,"mapRepresentation":43,"prior":44,"outputGeometry":45,"compute":46,"codeUrl":47,"codeLicense":48,"relatedVersions":49},"livgs2025","Xiao et al., 2025","LiV-GS","LiV-GS: LiDAR-Vision Integration for 3D Gaussian Splatting SLAM in Outdoor Environments",2025,"recent","C09","odometry_with_local_mapping","LiV-GS 以點雲與高斯共有的共變異為橋樑，直接把稀疏 LiDAR 點與連續可微的高斯地圖對齊做前端追蹤，並對 LiDAR 視野外的高斯施加條件約束，使其貼近鄰近可靠高斯。軌跡評估以 R3LIVE 的軌跡作為參考真值，幾何精度只以毫米波雷達跨模態重定位做定性說明。","Aligns LiDAR scans directly to a 3D Gaussian map through covariance for tracking, with conditional constraints for Gaussians outside LiDAR coverage.","full_text_reviewed","peer_reviewed_published","supplementary","論文未在營建場域測試；資料為 NTU4DRadLM 與 R3LIVE hku park 序列。",[20],"public_benchmark",[22,23,24],"Lowest ATE on all five low-speed NTU4DRadLM segments (0.366 m to 0.771 m) (Sec. IV-C, Table II)","With its own odometry, higher rendering SSIM than every other compared method on all six NTU4DRadLM sequences; its ground-truth-pose variant scores higher on nyl2 (0.744 vs 0.725) (Table III)","Lowest t_rel and r_rel on the closed-loop hku_park_00 segment (Table IV)",[26,27,28,29,30],"No loop closure; on the closed-loop hku_park_00 segment ATE is 0.705 m vs 0.457 m for ORB-SLAM3 (Sec. IV-G, Table IV)","On high-speed loop2 the authors report accuracy slightly below NeRF-LOAM, but Table II shows HDL-graph-SLAM with the lowest ATE (0.593 m vs 0.843 m) and NeRF-LOAM better only in rotational drift (Sec. IV-C, Table II)","No spherical harmonics, so view-dependent colour at loop closures can create overlapping Gaussians; on hku_park_00 rendering PSNR is 17.316 vs 25.776 for 3DGS (Sec. IV-G, Table V)","Trajectory reference is R3LIVE output rather than an independent measurement (Sec. IV-A) (inference: reference uncertainty not quantified)","Geometry accuracy shown only qualitatively through mmWave radar relocalization with HDL-localization (Sec. IV-F)",[32,33],"3D LiDAR (Livox Horizon in NTU4DRadLM; Livox Avia in R3LIVE hku_park_00)","monocular camera (640 x 480 in NTU4DRadLM; 1280 x 1024 at 30 Hz in hku_park_00)",[35,36],"handheld","vehicle","frame-to-map alignment of LiDAR points to Gaussians through shared covariance\u002Fnormal attributes; sliding-window back-end pose and map optimization","point-to-Gaussian (covariance-based plane) matching","discrete poses","not_applicable","none (authors state LiV-GS lacks loop closure detection)","none","3D Gaussians with normal-aware loss and conditional Gaussian constraints outside the LiDAR field of view","none (IMU not used)","Gaussian map and renderings; geometry accuracy assessed only qualitatively via cross-modal radar relocalization","7.98 FPS overall on a desktop with an NVIDIA RTX 4090 GPU; front-end tracking and keyframe selection 0.07 ms, pose optimization 0.04 ms (five keyframes) and map update 0.09 ms per operation, with asynchronous modules; IMU not used",null,"not_verified",[50],{"relation":51,"title":52,"doi_or_url":53},"preprint","arXiv:2411.12185","https:\u002F\u002Farxiv.org\u002Fabs\u002F2411.12185",{"id":5,"kind":55,"shortName":7,"title":8,"authors":56,"year":9,"venue":61,"venueType":62,"publisher":63,"volumeIssuePages":64,"doi":65,"arxivId":66,"url":67,"firstPublicDate":68,"publicationStatus":16,"metadataStatus":69,"fulltextStatus":15,"era":10,"classicReason":40,"codeUrl":47,"cluster":11,"topics":70,"mdpi":71,"verification":72,"label":6,"fulltextRoute":73,"versionRead":74,"addedByCensus":71},"method",[57,58,59,60],"Renxiang Xiao","Wei Liu","Yushuai Chen","Liang Hu","IEEE Robotics and Automation Letters","journal","IEEE","10(1), 421-428","10.1109\u002Flra.2024.3505777","2411.12185","https:\u002F\u002Fapi.crossref.org\u002Fworks\u002F10.1109\u002Flra.2024.3505777","2024-11-19","metadata_verified",[11],false,"corrected","arXiv","arXiv v1 HTML (2024-11-19); IEEE RA-L 10(1) version of record not opened",[76,84,88,94,98,104,107],{"category":77,"model":78,"canonical":79,"role":80,"dataset":81,"specs":82,"locator":83},"lidar","Livox-Horizon (as written)","Livox Horizon","dataset sensor","NTU4DRadLM","10 Hz","Sec. IV-B",{"category":85,"model":86,"canonical":86,"role":80,"dataset":81,"specs":87,"locator":83},"camera","monocular camera (model not reported)","640 x 480",{"category":89,"model":90,"canonical":91,"role":80,"dataset":81,"specs":92,"locator":93},"radar","Eagle Ocuill G7 (as written)","Eagle Ocuill G7","4D millimeter-wave radar; used only for cross-modal relocalization on the Gaussian map","Sec. IV-B; Sec. IV-F",{"category":95,"model":96,"canonical":96,"role":80,"dataset":81,"specs":97,"locator":83},"platform","human-driven vehicle platform","used for the high-speed loop2 sequence",{"category":77,"model":99,"canonical":100,"role":80,"dataset":101,"specs":102,"locator":103},"Livox-Avia (as written)","Livox Avia","R3LIVE dataset (hku_park_00)","10 Hz; handheld scanning","Sec. IV-G",{"category":85,"model":105,"canonical":105,"role":80,"dataset":101,"specs":106,"locator":103},"camera of the R3LIVE handheld device (model not reported)","1280 x 1024 at 30 Hz",{"category":108,"model":109,"canonical":109,"role":110,"dataset":47,"specs":111,"locator":112},"compute","NVIDIA RTX 4090 GPU","compute for runtime","desktop; all compared algorithms run on it","Sec. IV-A",[],{"totalRows":115,"groupCount":116,"groups":117,"others":603},29,4,[118,451,494,533],{"slug":119,"group":120,"sourceId":5,"sourceLabel":6,"table":121,"selfRows":122,"metrics":123,"seqs":135,"entrants":150,"cells":173,"outcomes":444,"locators":446,"hardware":447,"wordings":448,"notes":449},"livgs2025-table-ii","livgs2025:Table II","Table II",18,[124,129,132],{"label":125,"unit":126,"statistic":127,"alignment":128},"t_rel (average translational RMSE drift)","%","RMSE","not_reported",{"label":130,"unit":131,"statistic":127,"alignment":128},"r_rel (average rotational RMSE drift)","deg\u002F100 m",{"label":133,"unit":134,"statistic":127,"alignment":128},"t_abs (ATE RMSE)","m",[136,139,141,143,145,147],{"dataset":81,"sequence":137,"environment":138},"cp","outdoor, low-speed segment (cp about 230 m; garden and nyl segments at least 220 m each), Livox Horizon",{"dataset":81,"sequence":140,"environment":138},"garden1",{"dataset":81,"sequence":142,"environment":138},"garden2",{"dataset":81,"sequence":144,"environment":138},"nyl1",{"dataset":81,"sequence":146,"environment":138},"nyl2",{"dataset":81,"sequence":148,"environment":149},"loop2","outdoor, human-driven vehicle, high speed, 300 frames over about 250 m, Livox Horizon",[151,155,158,161,164,167,169,171],{"name":152,"methodId":153,"linkable":154,"proposed":71,"self":71},"NeRF-LOAM","nerfloam2023",true,{"name":156,"methodId":157,"linkable":71,"proposed":71,"self":71},"HDL-graph-SLAM","koide2019_hdlgraphslam",{"name":159,"methodId":160,"linkable":154,"proposed":71,"self":71},"ORB-SLAM3","orbslam3_2021",{"name":162,"methodId":163,"linkable":154,"proposed":71,"self":71},"SplaTAM","splatam2024",{"name":165,"methodId":166,"linkable":154,"proposed":71,"self":71},"MonoGS","monogs2024",{"name":168,"methodId":47,"linkable":71,"proposed":71,"self":71},"Gaussian-SLAM",{"name":170,"methodId":47,"linkable":71,"proposed":71,"self":71},"GS-ICP-SLAM",{"name":172,"methodId":5,"linkable":154,"proposed":154,"self":154},"Ours",[174,178,181,184,186,188,190,192,194,196,199,201,203,205,207,209,212,214,216,218,220,222,224,226,228,230,232,234,236,238,240,242,244,246,248,250,252,254,256,258,260,262,264,266,268,270,272,274,276,278,280,282,284,286,288,289,290,292,293,294,296,297,298,300,301,302,304,305,306,308,309,310,312,314,316,318,320,322,324,326,328,330,332,334,336,337,339,341,343,345,347,349,351,353,354,355,356,357,358,359,360,361,362,363,364,365,367,369,371,374,376,378,379,381,383,385,387,389,391,393,395,397,399,401,403,405,407,410,412,414,416,418,420,422,424,426,428,430,432,434,436,438,440,442],[175,175,175,176,177,175,177,177,175],0,2.943,-1,[175,179,175,180,177,175,177,177,175],1,9.644,[175,182,175,183,177,175,177,177,175],2,5.39,[175,175,179,185,177,175,177,177,175],1.182,[175,179,179,187,177,175,177,177,175],0.559,[175,182,179,189,177,175,177,177,175],0.54,[175,175,182,191,177,175,177,177,175],1.213,[175,179,182,193,177,175,177,177,175],0.707,[175,182,182,195,177,175,177,177,175],1.076,[175,175,197,198,177,175,177,177,175],3,1.371,[175,179,197,200,177,175,177,177,175],1.14,[175,182,197,202,177,175,177,177,175],3.504,[175,175,116,204,177,175,177,177,175],1.343,[175,179,116,206,177,175,177,177,175],1.73,[175,182,116,208,177,175,177,177,175],17.46,[175,175,210,211,177,175,177,177,175],5,1.442,[175,179,210,213,177,175,177,177,175],2.205,[175,182,210,215,177,175,177,177,175],1.785,[179,175,175,217,177,175,177,177,175],1.264,[179,179,175,219,177,175,177,177,175],1.553,[179,182,175,221,177,175,177,177,175],1.079,[179,175,179,223,177,175,177,177,175],1.874,[179,179,179,225,177,175,177,177,175],1.603,[179,182,179,227,177,175,177,177,175],1.478,[179,175,182,229,177,175,177,177,175],1.186,[179,179,182,231,177,175,177,177,175],0.88,[179,182,182,233,177,175,177,177,175],3.154,[179,175,197,235,177,175,177,177,175],1.737,[179,179,197,237,177,175,177,177,175],1.271,[179,182,197,239,177,175,177,177,175],2.266,[179,175,116,241,177,175,177,177,175],1.514,[179,179,116,243,177,175,177,177,175],1.835,[179,182,116,245,177,175,177,177,175],17.638,[179,175,210,247,177,175,177,177,175],1.436,[179,179,210,249,177,175,177,177,175],2.802,[179,182,210,251,177,175,177,177,175],0.593,[182,175,175,253,177,175,177,177,175],1.356,[182,179,175,255,177,175,177,177,175],1.992,[182,182,175,257,177,175,177,177,175],2.865,[182,175,179,259,177,175,177,177,175],1.173,[182,179,179,261,177,175,177,177,175],0.626,[182,182,179,263,177,175,177,177,175],0.529,[182,175,182,265,177,175,177,177,175],1.212,[182,179,182,267,177,175,177,177,175],0.772,[182,182,182,269,177,175,177,177,175],1.001,[182,175,197,271,177,175,177,177,175],1.342,[182,179,197,273,177,175,177,177,175],1.172,[182,182,197,275,177,175,177,177,175],19.528,[182,175,116,277,177,175,177,177,175],1.333,[182,179,116,279,177,175,177,177,175],1.736,[182,182,116,281,177,175,177,177,175],23.283,[182,175,210,283,177,175,177,177,175],1.403,[182,179,210,285,177,175,177,177,175],2.256,[182,182,210,287,177,175,177,177,175],0.952,[197,175,175,47,175,175,177,177,175],[197,179,175,47,175,175,177,177,175],[197,182,175,291,177,175,177,177,175],2.336,[197,175,179,47,175,175,177,177,175],[197,179,179,47,175,175,177,177,175],[197,182,179,295,177,175,177,177,175],0.979,[197,175,182,47,175,175,177,177,175],[197,179,182,47,175,175,177,177,175],[197,182,182,299,177,175,177,177,175],1.221,[197,175,197,47,175,175,177,177,175],[197,179,197,47,175,175,177,177,175],[197,182,197,303,177,175,177,177,175],12.332,[197,175,116,47,175,175,177,177,175],[197,179,116,47,175,175,177,177,175],[197,182,116,307,177,175,177,177,175],17.442,[197,175,210,47,175,175,177,177,175],[197,179,210,47,175,175,177,177,175],[197,182,210,311,177,175,177,177,175],2.692,[116,175,175,313,177,175,177,177,175],4.171,[116,179,175,315,177,175,177,177,175],3.472,[116,182,175,317,177,175,177,177,175],3.44,[116,175,179,319,177,175,177,177,175],1.179,[116,179,179,321,177,175,177,177,175],0.754,[116,182,179,323,177,175,177,177,175],0.664,[116,175,182,325,177,175,177,177,175],1.163,[116,179,182,327,177,175,177,177,175],0.765,[116,182,182,329,177,175,177,177,175],0.708,[116,175,197,331,177,175,177,177,175],1.382,[116,179,197,333,177,175,177,177,175],1.175,[116,182,197,335,177,175,177,177,175],9.595,[116,175,116,198,177,175,177,177,175],[116,179,116,338,177,175,177,177,175],1.701,[116,182,116,340,177,175,177,177,175],28.553,[116,175,210,342,177,175,177,177,175],7.375,[116,179,210,344,177,175,177,177,175],5.708,[116,182,210,346,177,175,177,177,175],15.357,[210,175,175,348,177,175,177,177,175],1.249,[210,179,175,350,177,175,177,177,175],3.047,[210,182,175,352,177,175,177,177,175],1.04,[210,175,179,47,175,175,177,177,175],[210,179,179,47,175,175,177,177,175],[210,182,179,47,175,175,177,177,175],[210,175,182,47,175,175,177,177,175],[210,179,182,47,175,175,177,177,175],[210,182,182,47,175,175,177,177,175],[210,175,197,47,175,175,177,177,175],[210,179,197,47,175,175,177,177,175],[210,182,197,47,175,175,177,177,175],[210,175,116,47,175,175,177,177,175],[210,179,116,47,175,175,177,177,175],[210,182,116,47,175,175,177,177,175],[210,175,210,366,177,175,177,177,175],1.399,[210,179,210,368,177,175,177,177,175],2.384,[210,182,210,370,177,175,177,177,175],1.136,[372,175,175,373,177,175,177,177,175],6,5.471,[372,179,175,375,177,175,177,177,175],4.041,[372,182,175,377,177,175,177,177,175],6.33,[372,175,179,348,177,175,177,177,175],[372,179,179,380,177,175,177,177,175],0.764,[372,182,179,382,177,175,177,177,175],2.082,[372,175,182,384,177,175,177,177,175],1.824,[372,179,182,386,177,175,177,177,175],1.316,[372,182,182,388,177,175,177,177,175],5.507,[372,175,197,390,177,175,177,177,175],1.662,[372,179,197,392,177,175,177,177,175],1.771,[372,182,197,394,177,175,177,177,175],23.331,[372,175,116,396,177,175,177,177,175],2.101,[372,179,116,398,177,175,177,177,175],1.07,[372,182,116,400,177,175,177,177,175],23.915,[372,175,210,402,177,175,177,177,175],3.236,[372,179,210,404,177,175,177,177,175],2.644,[372,182,210,406,177,175,177,177,175],13.819,[408,175,175,409,177,175,177,177,175],7,0.234,[408,179,175,411,177,175,177,177,175],1.216,[408,182,175,413,177,175,177,177,175],0.464,[408,175,179,415,177,175,177,177,175],1.183,[408,179,179,417,177,175,177,177,175],0.716,[408,182,179,419,177,175,177,177,175],0.366,[408,175,182,421,177,175,177,177,175],1.236,[408,179,182,423,177,175,177,177,175],0.962,[408,182,182,425,177,175,177,177,175],0.679,[408,175,197,427,177,175,177,177,175],1.24,[408,179,197,429,177,175,177,177,175],1.307,[408,182,197,431,177,175,177,177,175],0.58,[408,175,116,433,177,175,177,177,175],1.106,[408,179,116,435,177,175,177,177,175],1.369,[408,182,116,437,177,175,177,177,175],0.771,[408,175,210,439,177,175,177,177,175],1.393,[408,179,210,441,177,175,177,177,175],2.239,[408,182,210,443,177,175,177,177,175],0.843,[445],"not reported ('-' in table)",[121],[],[],[450],"Tracking accuracy with rpg trajectory evaluation: t_rel = average translational RMSE drift (%), r_rel = average rotational RMSE drift (deg\u002F100 m), t_abs = ATE RMSE (m); reference trajectories from R3LIVE (not an independent measurement); alignment not stated; IMU not used by LiV-GS; '-' entries reported without explanation (text says indoor-oriented 3DGS SLAM methods degrade or fail on some outdoor sequences)",{"slug":452,"group":453,"sourceId":454,"sourceLabel":455,"table":456,"selfRows":116,"metrics":457,"seqs":463,"entrants":467,"cells":471,"outcomes":488,"locators":489,"hardware":490,"wordings":491,"notes":492},"gslivm2025-iccv-supp-table-4","gslivm2025:ICCV Supp. Table 4","gslivm2025","Xie et al., 2025","ICCV Supp. Table 4",[458,461],{"label":459,"unit":460,"statistic":128,"alignment":42},"PSNR","dB",{"label":462,"unit":42,"statistic":128,"alignment":42},"SSIM",[464,466],{"dataset":465,"sequence":137,"environment":465},"not stated",{"dataset":465,"sequence":146,"environment":465},[468,470],{"name":469,"methodId":5,"linkable":154,"proposed":71,"self":154},"LiV-GS* (preprint result)",{"name":172,"methodId":454,"linkable":154,"proposed":154,"self":71},[472,474,476,478,480,482,484,486],[175,175,175,473,177,175,177,177,175],22.27,[175,179,175,475,177,175,177,177,175],0.775,[179,175,175,477,177,175,177,177,175],23.54,[179,179,175,479,177,175,177,177,175],0.733,[175,175,179,481,177,175,177,177,175],20.83,[175,179,179,483,177,175,177,177,175],0.725,[179,175,179,485,177,175,177,177,175],22.09,[179,179,179,487,177,175,177,177,175],0.738,[],[456],[],[],[493],"Rendering comparison with LiV-GS on sequences cp and nyl2; LiV-GS values copied from its preprint (marked *), GS-LIVM values from the authors' runs; dataset not named in GS-LIVM (the sequence names match NTU4DRadLM segments in LiV-GS); added by second checker from the ICCV supplement",{"slug":495,"group":496,"sourceId":5,"sourceLabel":6,"table":497,"selfRows":116,"metrics":498,"seqs":510,"entrants":513,"cells":515,"outcomes":524,"locators":525,"hardware":528,"wordings":530,"notes":531},"livgs2025-text-sec-iv-e","livgs2025:Text Sec. IV-E","Text Sec. IV-E",[499,503,506,508],{"label":500,"unit":501,"statistic":502,"alignment":42},"FPS (depth maps and RGB images processed per second)","fps","mean",{"label":504,"unit":505,"statistic":502,"alignment":42},"front-end tracking and keyframe selection time per operation","ms",{"label":507,"unit":505,"statistic":502,"alignment":42},"pose optimization time per operation (five keyframes)",{"label":509,"unit":505,"statistic":502,"alignment":42},"map update time per operation",[511],{"dataset":512,"sequence":465,"environment":465},"not stated (Fig. 7 relates runtime to the NTU4DRadLM accuracy and rendering results, but the runtime data are not attributed to a dataset)",[514],{"name":172,"methodId":5,"linkable":154,"proposed":154,"self":154},[516,518,520,522],[175,175,175,517,177,175,175,177,175],7.98,[175,179,175,519,177,179,175,177,175],0.07,[175,182,175,521,177,179,175,177,175],0.04,[175,197,175,523,177,179,175,177,175],0.09,[],[526,527],"Abstract; Sec. IV-E; Fig. 7","Sec. IV-E",[529],"desktop with NVIDIA RTX 4090 GPU",[],[532],"System throughput (processed frames divided by total time) and mean per-operation module runtimes; modules run asynchronously",{"slug":534,"group":535,"sourceId":5,"sourceLabel":6,"table":536,"selfRows":197,"metrics":537,"seqs":541,"entrants":546,"cells":555,"outcomes":597,"locators":598,"hardware":599,"wordings":600,"notes":601},"livgs2025-table-iv","livgs2025:Table IV","Table IV",[538,539,540],{"label":125,"unit":126,"statistic":127,"alignment":128},{"label":130,"unit":131,"statistic":127,"alignment":128},{"label":133,"unit":134,"statistic":127,"alignment":128},[542],{"dataset":543,"sequence":544,"environment":545},"R3LIVE dataset","hku_park_00 (closed-loop segment)","closed-loop segment of the R3LIVE handheld scanning sequence hku_park_00 (environment not described beyond the sequence name)",[547,548,549,550,551,552,553,554],{"name":152,"methodId":153,"linkable":154,"proposed":71,"self":71},{"name":156,"methodId":157,"linkable":71,"proposed":71,"self":71},{"name":159,"methodId":160,"linkable":154,"proposed":71,"self":71},{"name":162,"methodId":163,"linkable":154,"proposed":71,"self":71},{"name":165,"methodId":166,"linkable":154,"proposed":71,"self":71},{"name":168,"methodId":47,"linkable":71,"proposed":71,"self":71},{"name":170,"methodId":47,"linkable":71,"proposed":71,"self":71},{"name":172,"methodId":5,"linkable":154,"proposed":154,"self":154},[556,558,560,562,564,566,568,570,571,573,574,575,576,578,580,582,584,586,588,589,590,591,593,595],[175,175,175,557,177,175,177,177,175],0.518,[175,179,175,559,177,175,177,177,175],0.636,[175,182,175,561,177,175,177,177,175],1.617,[179,175,175,563,177,175,177,177,175],0.497,[179,179,175,565,177,175,177,177,175],0.801,[179,182,175,567,177,175,177,177,175],0.712,[182,175,175,569,177,175,177,177,175],0.446,[182,179,175,567,177,175,177,177,175],[182,182,175,572,177,175,177,177,175],0.457,[197,175,175,47,175,175,177,177,175],[197,179,175,47,175,175,177,177,175],[197,182,175,47,175,175,177,177,175],[116,175,175,577,177,175,177,177,175],0.535,[116,179,175,579,177,175,177,177,175],0.932,[116,182,175,581,177,175,177,177,175],1.963,[210,175,175,583,177,175,177,177,175],1.456,[210,179,175,585,177,175,177,177,175],0.562,[210,182,175,587,177,175,177,177,175],1.444,[372,175,175,47,175,175,177,177,175],[372,179,175,47,175,175,177,177,175],[372,182,175,47,175,175,177,177,175],[408,175,175,592,177,175,177,177,175],0.436,[408,179,175,594,177,175,177,177,175],0.546,[408,182,175,596,177,175,177,177,175],0.705,[445],[536],[],[],[602],"Closed-loop test on a segment of R3LIVE hku_park_00 (handheld, Livox Avia 10 Hz, 1280 x 1024 images at 30 Hz); same metrics as Table II; LiV-GS has no loop closure detection",[],1790510658648]