{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,7,4]],"date-time":"2025-07-04T04:08:14Z","timestamp":1751602094072,"version":"3.41.0"},"reference-count":34,"publisher":"Springer Science and Business Media LLC","issue":"9","license":[{"start":{"date-parts":[[2025,6,5]],"date-time":"2025-06-05T00:00:00Z","timestamp":1749081600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[2025,6,5]],"date-time":"2025-06-05T00:00:00Z","timestamp":1749081600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"}],"funder":[{"name":"Science and Technology Plan of Shenzhen","award":["JSGG20220831110607013","JSGG20220831110607013","JSGG20220831110607013"],"award-info":[{"award-number":["JSGG20220831110607013","JSGG20220831110607013","JSGG20220831110607013"]}]},{"DOI":"10.13039\/501100010256","name":"Science and Technology Plan of Guangzhou","doi-asserted-by":"crossref","award":["202206010126","202206010126","202206010126"],"award-info":[{"award-number":["202206010126","202206010126","202206010126"]}],"id":[{"id":"10.13039\/501100010256","id-type":"DOI","asserted-by":"crossref"}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["SIViP"],"published-print":{"date-parts":[[2025,9]]},"DOI":"10.1007\/s11760-025-04303-4","type":"journal-article","created":{"date-parts":[[2025,6,5]],"date-time":"2025-06-05T19:18:04Z","timestamp":1749151084000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["KBGS-SLAM: Keyframe-optimized and bundle-adjusted dense visual SLAM via 3D gaussian splatting"],"prefix":"10.1007","volume":"19","author":[{"given":"Yunhe","family":"Wu","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Chunchit","family":"Siu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Huiyuan","family":"Xiong","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2025,6,5]]},"reference":[{"issue":"10","key":"4303_CR1","doi-asserted-by":"publisher","first-page":"7053","DOI":"10.1007\/s11760-024-03375-y","volume":"18","author":"Q Sun","year":"2024","unstructured":"Sun, Q., Liu, W., Zou, J., et al.: Ggc-slam: a vslam system based on predicted static probability of feature points in dynamic environments. SIViP 18(10), 7053\u20137064 (2024)","journal-title":"SIViP"},{"key":"4303_CR2","doi-asserted-by":"crossref","unstructured":"Keller, M., Lefloch, D., Lambers, M., et\u00a0al.: Real-time 3d reconstruction in dynamic scenes using point-based fusion. In: 2013 International Conference on 3D Vision-3DV 2013, IEEE, pp 1\u20138 (2013)","DOI":"10.1109\/3DV.2013.9"},{"issue":"10","key":"4303_CR3","doi-asserted-by":"publisher","first-page":"2494","DOI":"10.1109\/TPAMI.2019.2947048","volume":"42","author":"T Sch\u00f6ps","year":"2019","unstructured":"Sch\u00f6ps, T., Sattler, T., Pollefeys, M.: Surfelmeshing: online surfel-based mesh reconstruction. IEEE Trans. Pattern Anal. Mach. Intell. 42(10), 2494\u20132507 (2019)","journal-title":"IEEE Trans. Pattern Anal. Mach. Intell."},{"key":"4303_CR4","unstructured":"Guo, W., Wang, B., Chen, L.: Neuv-slam: Fast neural multiresolution voxel optimization for rgbd dense slam. arXiv preprint arXiv:2402.02020 (2024)"},{"issue":"1","key":"4303_CR5","doi-asserted-by":"publisher","first-page":"99","DOI":"10.1145\/3503250","volume":"65","author":"B Mildenhall","year":"2021","unstructured":"Mildenhall, B., Srinivasan, P.P., Tancik, M., et al.: Nerf: representing scenes as neural radiance fields for view synthesis. Commun. ACM 65(1), 99\u2013106 (2021)","journal-title":"Commun. ACM"},{"issue":"4","key":"4303_CR6","doi-asserted-by":"publisher","first-page":"139","DOI":"10.1145\/3592433","volume":"42","author":"B Kerbl","year":"2023","unstructured":"Kerbl, B., Kopanas, G., Leimk\u00fchler, T., et al.: 3d gaussian splatting for real-time radiance field rendering. ACM Trans. Graph. 42(4), 139\u20131 (2023)","journal-title":"ACM Trans. Graph."},{"key":"4303_CR7","doi-asserted-by":"crossref","unstructured":"Matsuki, H., Murai, R., Kelly, P.H., et\u00a0al.: Gaussian splatting slam. In: Proceedings of the IEEE\/CVF Conference on Computer Vision and Pattern Recognition, pp 18039\u201318048 (2024)","DOI":"10.1109\/CVPR52733.2024.01708"},{"key":"4303_CR8","doi-asserted-by":"crossref","unstructured":"Keetha, N., Karhade, J., Jatavallabhula, K.M., et\u00a0al.: Splatam: Splat track & map 3d gaussians for dense rgb-d slam. In: Proceedings of the IEEE\/CVF Conference on Computer Vision and Pattern Recognition, pp 21357\u201321366 (2024)","DOI":"10.1109\/CVPR52733.2024.02018"},{"key":"4303_CR9","unstructured":"Deng, T., Chen, Y., Zhang, L., et\u00a0al. Compact 3d gaussian splatting for dense visual slam. arXiv preprint arXiv:2403.11247 (2024)"},{"key":"4303_CR10","doi-asserted-by":"crossref","unstructured":"Yan, C., Qu, D., Xu, D., et al.: Gs-slam: Dense visual slam with 3d gaussian splatting. In: Proceedings of the IEEE\/CVF Conference on Computer Vision and Pattern Recognition, pp 19595\u201319604 (2024)","DOI":"10.1109\/CVPR52733.2024.01853"},{"key":"4303_CR11","doi-asserted-by":"crossref","unstructured":"Klein, G., Murray, D.: Parallel tracking and mapping on a camera phone. In: 2009 8th IEEE International Symposium on Mixed and Augmented Reality, IEEE, pp 83\u201386 (2009)","DOI":"10.1109\/ISMAR.2009.5336495"},{"key":"4303_CR12","doi-asserted-by":"crossref","unstructured":"Zheng, C., Yan, X., Gao, J., et\u00a0al.: Box-aware feature enhancement for single object tracking on point clouds. In: Proceedings of the IEEE\/CVF International Conference on Computer Vision, pp 13199\u201313208 (2021)","DOI":"10.1109\/ICCV48922.2021.01295"},{"key":"4303_CR13","doi-asserted-by":"crossref","unstructured":"Zheng, C., Yan, X., Zhang, H., et\u00a0al.: Beyond 3d siamese tracking: A motion-centric paradigm for 3d single object tracking in point clouds. In: Proceedings of the IEEE\/CVF Conference on Computer Vision and Pattern Recognition, pp 8111\u20138120 (2022)","DOI":"10.1109\/CVPR52688.2022.00794"},{"key":"4303_CR14","doi-asserted-by":"crossref","unstructured":"Newcombe, R.A., Lovegrove, S.J., Davison, A.J.: Dtam: Dense tracking and mapping in real-time. In: 2011 international conference on computer vision, IEEE, pp 2320\u20132327 (2011)","DOI":"10.1109\/ICCV.2011.6126513"},{"issue":"3","key":"4303_CR15","doi-asserted-by":"publisher","first-page":"734","DOI":"10.1109\/TRO.2019.2899783","volume":"35","author":"R Gomez-Ojeda","year":"2019","unstructured":"Gomez-Ojeda, R., Moreno, F.A., Zuniga-No\u00ebl, D., et al.: Pl-slam: a stereo slam system through the combination of points and line segments. IEEE Trans. Rob. 35(3), 734\u2013746 (2019)","journal-title":"IEEE Trans. Rob."},{"issue":"5","key":"4303_CR16","doi-asserted-by":"publisher","first-page":"1147","DOI":"10.1109\/TRO.2015.2463671","volume":"31","author":"R Mur-Artal","year":"2015","unstructured":"Mur-Artal, R., Montiel, J.M.M., Tardos, J.D.: Orb-slam: a versatile and accurate monocular slam system. IEEE Trans. Rob. 31(5), 1147\u20131163 (2015)","journal-title":"IEEE Trans. Rob."},{"issue":"5","key":"4303_CR17","doi-asserted-by":"publisher","first-page":"1255","DOI":"10.1109\/TRO.2017.2705103","volume":"33","author":"R Mur-Artal","year":"2017","unstructured":"Mur-Artal, R., Tard\u00f3s, J.D.: Orb-slam2: an open-source slam system for monocular, stereo, and rgb-d cameras. IEEE Trans. Rob. 33(5), 1255\u20131262 (2017)","journal-title":"IEEE Trans. Rob."},{"issue":"6","key":"4303_CR18","doi-asserted-by":"publisher","first-page":"1874","DOI":"10.1109\/TRO.2021.3075644","volume":"37","author":"C Campos","year":"2021","unstructured":"Campos, C., Elvira, R., Rodr\u00edguez, J.J.G., et al.: Orb-slam3: an accurate open-source library for visual, visual-inertial, and multimap slam. IEEE Trans. Rob. 37(6), 1874\u20131890 (2021)","journal-title":"IEEE Trans. Rob."},{"issue":"5","key":"4303_CR19","doi-asserted-by":"publisher","first-page":"5543","DOI":"10.1109\/TITS.2023.3243470","volume":"24","author":"Y Xia","year":"2023","unstructured":"Xia, Y., Wu, Q., Li, W., et al.: A lightweight and detector-free 3d single object tracker on point clouds. IEEE Trans. Intell. Transp. Syst. 24(5), 5543\u20135554 (2023)","journal-title":"IEEE Trans. Intell. Transp. Syst."},{"key":"4303_CR20","doi-asserted-by":"crossref","unstructured":"Wu, Q., Xia, Y., Wan, J., et\u00a0al.: Boosting 3d single object tracking with 2d matching distillation and 3d pre-training. In: European Conference on Computer Vision, Springer, pp 270\u2013288 (2024)","DOI":"10.1007\/978-3-031-73254-6_16"},{"key":"4303_CR21","first-page":"16558","volume":"34","author":"Z Teed","year":"2021","unstructured":"Teed, Z., Deng, J.: Droid-slam: deep visual slam for monocular, stereo, and rgb-d cameras. Adv. Neural. Inf. Process. Syst. 34, 16558\u201316569 (2021)","journal-title":"Adv. Neural. Inf. Process. Syst."},{"key":"4303_CR22","doi-asserted-by":"crossref","unstructured":"Teed, Z., Deng, J.: Raft: Recurrent all-pairs field transforms for optical flow. In: Computer Vision\u2013ECCV 2020: 16th European Conference, Glasgow, UK, August 23\u201328, 2020, Proceedings, Part II 16, Springer, pp 402\u2013419 (2020)","DOI":"10.1007\/978-3-030-58536-5_24"},{"key":"4303_CR23","first-page":"1","volume-title":"Computer Vision - ECCV 2022","author":"Z Li","year":"2022","unstructured":"Li, Z., Wang, W., Li, H., et al.: Bevformer: learning bird\u2019s-eye-view representation from multi-camera images via spatiotemporal transformers. In: Avidan, S., Brostow, G., Ciss\u00e9, M., et al. (eds.) Computer Vision - ECCV 2022, pp. 1\u201318. Springer Nature Switzerland, Cham (2022)"},{"key":"4303_CR24","unstructured":"Meier, J., Inchingolo, L., Dhaouadi, O., et\u00a0al.: Monoct: Overcoming monocular 3d detection domain shift with consistent teacher models. In: International Conference on Robotics and Automation (ICRA). (2025) arxiv:https:\/\/arxiv.org\/pdf\/2503.13743"},{"key":"4303_CR25","doi-asserted-by":"crossref","unstructured":"Sucar, E., Liu, S., Ortiz, J., et\u00a0al.: imap: Implicit mapping and positioning in real-time. In: Proceedings of the IEEE\/CVF international conference on computer vision, pp 6229\u20136238 (2021)","DOI":"10.1109\/ICCV48922.2021.00617"},{"key":"4303_CR26","doi-asserted-by":"crossref","unstructured":"Zhu, Z., Peng, S., Larsson, V., et\u00a0al.: Nice-slam: neural implicit scalable encoding for slam. In: Proceedings of the IEEE\/CVF conference on computer vision and pattern recognition, pp 12786\u201312796 (2022)","DOI":"10.1109\/CVPR52688.2022.01245"},{"key":"4303_CR27","doi-asserted-by":"crossref","unstructured":"Johari, M.M., Carta, C., Fleuret, F.: Eslam: Efficient dense slam system based on hybrid representation of signed distance fields. In: Proceedings of the IEEE\/CVF Conference on Computer Vision and Pattern Recognition, pp 17408\u201317419 (2023)","DOI":"10.1109\/CVPR52729.2023.01670"},{"key":"4303_CR28","doi-asserted-by":"crossref","unstructured":"Sandstr\u00f6m, E., Li, Y., Van\u00a0Gool, L., et\u00a0al.: Point-slam: Dense neural point cloud-based slam. In: Proceedings of the IEEE\/CVF International Conference on Computer Vision, pp 18433\u201318444 (2023)","DOI":"10.1109\/ICCV51070.2023.01690"},{"key":"4303_CR29","doi-asserted-by":"crossref","unstructured":"Wang, H., Wang, J., Agapito, L.: Co-slam: Joint coordinate and sparse parametric encodings for neural real-time slam. In: Proceedings of the IEEE\/CVF Conference on Computer Vision and Pattern Recognition, pp 13293\u201313302 (2023)","DOI":"10.1109\/CVPR52729.2023.01277"},{"key":"4303_CR30","doi-asserted-by":"crossref","unstructured":"Li, M., Liu, S., Zhou, H., et\u00a0al.: Sgs-slam: Semantic gaussian splatting for neural dense slam. In: European Conference on Computer Vision, Springer, pp 163\u2013179 (2024)","DOI":"10.1007\/978-3-031-72751-1_10"},{"key":"4303_CR31","doi-asserted-by":"crossref","unstructured":"Hu, J., Chen, X., Feng, B., et\u00a0al.: Cg-slam: Efficient dense rgb-d slam in a consistent uncertainty-aware 3d gaussian field. In: European Conference on Computer Vision, Springer, pp 93\u2013112 (2024)","DOI":"10.1007\/978-3-031-72698-9_6"},{"key":"4303_CR32","doi-asserted-by":"crossref","unstructured":"Li, L., Zhang, L., Wang, Z., et\u00a0al.: Gs3lam: Gaussian semantic splatting slam. In: Proceedings of the 32nd ACM International Conference on Multimedia, pp 3019\u20133027 (2024)","DOI":"10.1145\/3664647.3680739"},{"key":"4303_CR33","unstructured":"Zwicker, M., Pfister, H., Van\u00a0Baar, J., et\u00a0al.: Ewa volume splatting. In: Proceedings Visualization, 2001. VIS\u201901., IEEE, pp 29\u2013538 (2001)"},{"key":"4303_CR34","doi-asserted-by":"crossref","unstructured":"Yang, X., Li, H., Zhai H., et\u00a0al.: Vox-fusion: Dense tracking and mapping with voxel-based neural implicit representation. In: 2022 IEEE International Symposium on Mixed and Augmented Reality (ISMAR), IEEE, pp 499\u2013507 (2022)","DOI":"10.1109\/ISMAR55827.2022.00066"}],"container-title":["Signal, Image and Video Processing"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s11760-025-04303-4.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s11760-025-04303-4\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s11760-025-04303-4.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,7,3]],"date-time":"2025-07-03T14:49:35Z","timestamp":1751554175000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s11760-025-04303-4"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,6,5]]},"references-count":34,"journal-issue":{"issue":"9","published-print":{"date-parts":[[2025,9]]}},"alternative-id":["4303"],"URL":"https:\/\/doi.org\/10.1007\/s11760-025-04303-4","relation":{},"ISSN":["1863-1703","1863-1711"],"issn-type":[{"type":"print","value":"1863-1703"},{"type":"electronic","value":"1863-1711"}],"subject":[],"published":{"date-parts":[[2025,6,5]]},"assertion":[{"value":"10 April 2025","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"19 May 2025","order":2,"name":"revised","label":"Revised","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"25 May 2025","order":3,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"5 June 2025","order":4,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"The authors have no competing interests to declare that are relevant to the content of this article.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Competing interests"}},{"value":"All authors consent to publication.","order":3,"name":"Ethics","group":{"name":"EthicsHeading","label":"Consent for publication"}}],"article-number":"698"}}