{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,1]],"date-time":"2026-05-01T17:17:49Z","timestamp":1777655869474,"version":"3.51.4"},"reference-count":64,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","license":[{"start":{"date-parts":[[2025,1,1]],"date-time":"2025-01-01T00:00:00Z","timestamp":1735689600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2025,1,1]],"date-time":"2025-01-01T00:00:00Z","timestamp":1735689600000},"content-version":"am","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2025,1,1]],"date-time":"2025-01-01T00:00:00Z","timestamp":1735689600000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2025,1,1]],"date-time":"2025-01-01T00:00:00Z","timestamp":1735689600000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"DOI":"10.13039\/100000006","name":"Office of Naval Research","doi-asserted-by":"publisher","award":["N00014-23-1-2354"],"award-info":[{"award-number":["N00014-23-1-2354"]}],"id":[{"id":"10.13039\/100000006","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100000185","name":"Defense Advanced Research Projects Agency","doi-asserted-by":"publisher","award":["HR001120C0107"],"award-info":[{"award-number":["HR001120C0107"]}],"id":[{"id":"10.13039\/100000185","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100000001","name":"National Science Foundation","doi-asserted-by":"publisher","award":["2220866"],"award-info":[{"award-number":["2220866"]}],"id":[{"id":"10.13039\/100000001","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100015599","name":"Toyota Research Institute","doi-asserted-by":"publisher","id":[{"id":"10.13039\/100015599","id-type":"DOI","asserted-by":"publisher"}]},{"name":"NASA NSTGRO Fellowship","award":["NSF GRFP DGE-2146755"],"award-info":[{"award-number":["NSF GRFP DGE-2146755"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Trans. Robot."],"published-print":{"date-parts":[[2025]]},"DOI":"10.1109\/tro.2025.3552348","type":"journal-article","created":{"date-parts":[[2025,3,17]],"date-time":"2025-03-17T13:52:47Z","timestamp":1742219567000},"page":"2765-2784","source":"Crossref","is-referenced-by-count":25,"title":["Splat-Nav: Safe Real-Time Robot Navigation in Gaussian Splatting Maps"],"prefix":"10.1109","volume":"41","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-3948-8739","authenticated-orcid":false,"given":"Timothy","family":"Chen","sequence":"first","affiliation":[{"name":"Stanford University, Stanford, CA, USA"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4344-5945","authenticated-orcid":false,"given":"Ola","family":"Shorinwa","sequence":"additional","affiliation":[{"name":"Stanford University, Stanford, CA, USA"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4817-1282","authenticated-orcid":false,"given":"Joseph","family":"Bruno","sequence":"additional","affiliation":[{"name":"Temple University, Philadelphia, PA, USA"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4529-1318","authenticated-orcid":false,"given":"Aiden","family":"Swann","sequence":"additional","affiliation":[{"name":"Stanford University, Stanford, CA, USA"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5552-8780","authenticated-orcid":false,"given":"Javier","family":"Yu","sequence":"additional","affiliation":[{"name":"Stanford University, Stanford, CA, USA"}]},{"given":"Weijia","family":"Zeng","sequence":"additional","affiliation":[{"name":"University of California San Diego, San Diego, CA, USA"}]},{"ORCID":"https:\/\/orcid.org\/0009-0000-4121-4927","authenticated-orcid":false,"given":"Keiko","family":"Nagami","sequence":"additional","affiliation":[{"name":"Stanford University, Stanford, CA, USA"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7257-0075","authenticated-orcid":false,"given":"Philip","family":"Dames","sequence":"additional","affiliation":[{"name":"Temple University, Philadelphia, PA, USA"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7871-3663","authenticated-orcid":false,"given":"Mac","family":"Schwager","sequence":"additional","affiliation":[{"name":"Stanford University, Stanford, CA, USA"}]}],"member":"263","reference":[{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/2.30720"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-55566-4_17"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1016\/j.autcon.2018.01.009"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1007\/b98879"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-58452-8_24"},{"issue":"4","key":"ref6","first-page":"139","article-title":"3D Gaussian splatting for real-time radiance field rendering","volume-title":"ACM Trans. Graph.","volume":"42","author":"Kerbl","year":"2023"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2022.3150497"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1017\/cbo9780511546877"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/70.508439"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2011.5980479"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2009.5152817"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1177\/0278364914528132"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2017.2663526"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2008.4543489"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2022.3200342"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2017.8202315"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/IROS40897.2019.8968199"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-71151-1_39"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2023.3327670"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2024.3386394"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48891.2023.10161482"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1137\/S0097539792233257"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/ICCAIS48893.2020.9096805"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4757-3437-9_19"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1016\/j.eswa.2019.06.006"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2019.2961740"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2012.6224766"},{"key":"ref28","first-page":"169","article-title":"Particle filter networks with application to visual localization","volume-title":"Proc. Conf. Robot Learn.","author":"Karkus","year":"2018"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2018.XIV.001"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1109\/IROS51168.2021.9636708"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48891.2023.10160782"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52688.2022.01245"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1109\/IROS55552.2023.10341922"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52733.2024.01853"},{"key":"ref35","article-title":"Gaussian-SLAM: Photo-realistic dense SLAM with Gaussian splatting","author":"Yugay","year":"2023"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52733.2024.01708"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2016.445"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1145\/280811.281026"},{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52733.2024.01895"},{"key":"ref40","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52733.2024.02048"},{"key":"ref41","article-title":"Fast-splat: Fast, ambiguity-free semantics transfer in Gaussian splatting","author":"Shorinwa","year":"2024"},{"key":"ref42","first-page":"8748","article-title":"Learning transferable visual models from natural language supervision","volume-title":"Proc. Int. Conf. Mach. Learn.","author":"Radford","year":"2021"},{"key":"ref43","article-title":"GraspSplats: Efficient manipulation with 3D feature splatting","volume-title":"Proc. 8th Annu. Conf. Robot Learn.","author":"Ji","year":"2024"},{"key":"ref44","article-title":"Splat-mover: Multi-stage, open-vocabulary robotic manipulation via editable Gaussian splatting","volume-title":"Proc. 8th Annu. Conf. Robot Learn.","author":"Shorinwa","year":"2024"},{"key":"ref45","first-page":"396","article-title":"A robust computational test for overlap of two arbitrary-dimensional ellipsoids in fault-detection of Kalman filters","volume-title":"Proc. 15th Int. Conf. Inf. Fusion","author":"Gilitschenski","year":"2012"},{"key":"ref46","doi-asserted-by":"publisher","DOI":"10.1109\/56.2083"},{"key":"ref47","first-page":"396","article-title":"A robust computational test for overlap of two arbitrary-dimensional ellipsoids in fault-detection of Kalman filters","volume-title":"Proc. IEEE 15th Int. Conf. Inf. Fusion","author":"Gilitschenski","year":"2012"},{"key":"ref48","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2022.3187818"},{"key":"ref49","article-title":"Fast iterative region inflation for computing large 2-D\/3-D convex regions of obstacle-free space","author":"Wang","year":"2024"},{"key":"ref50","article-title":"Clarabel: An interior-point solver for conic programs with quadratic objectives","author":"Goulart","year":"2024"},{"key":"ref51","doi-asserted-by":"publisher","DOI":"10.1090\/S0002-9939-1959-0113131-7"},{"key":"ref52","doi-asserted-by":"publisher","DOI":"10.1109\/CVPRW.2018.00060"},{"key":"ref53","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV51070.2023.01616"},{"key":"ref54","article-title":"Zoedepth: Zero-shot transfer by combining relative and metric depth","author":"Bhat","year":"2023"},{"key":"ref55","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52733.2024.00987"},{"key":"ref56","doi-asserted-by":"publisher","DOI":"10.1109\/34.88573"},{"key":"ref57","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2009.5152473"},{"key":"ref58","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2017.25"},{"key":"ref59","doi-asserted-by":"publisher","DOI":"10.1016\/0262-8856(92)90066-C"},{"key":"ref60","doi-asserted-by":"crossref","DOI":"10.1145\/3588432.3591516","article-title":"Nerfstudio: A framework for neural radiance field development","volume-title":"Proc. ACM SIGGRAPH Conf. Proc.","author":"Tancik","year":"2023"},{"key":"ref61","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52733.2024.01920"},{"key":"ref62","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR46437.2021.01018"},{"key":"ref63","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV48922.2021.00566"},{"key":"ref64","article-title":"Detect if two ellipses intersect, Mathematics Stack Exchange","year":"2020"}],"container-title":["IEEE Transactions on Robotics"],"original-title":[],"link":[{"URL":"https:\/\/ieeexplore.ieee.org\/ielam\/8860\/10778592\/10930696-aam.pdf","content-type":"application\/pdf","content-version":"am","intended-application":"syndication"},{"URL":"http:\/\/xplorestaging.ieee.org\/ielx8\/8860\/10778592\/10930696.pdf?arnumber=10930696","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,1,20]],"date-time":"2026-01-20T23:26:13Z","timestamp":1768951573000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/10930696\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025]]},"references-count":64,"URL":"https:\/\/doi.org\/10.1109\/tro.2025.3552348","relation":{},"ISSN":["1552-3098","1941-0468"],"issn-type":[{"value":"1552-3098","type":"print"},{"value":"1941-0468","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025]]}}}