{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2024:3QWKKFIWBBC6HUEGRTI3DFZQND","short_pith_number":"pith:3QWKKFIW","schema_version":"1.0","canonical_sha256":"dc2ca515160845e3d0868cd1b1973068fccc63429dc460c8099867efd8c66c4e","source":{"kind":"arxiv","id":"2405.05702","version":8},"attestation_state":"computed","paper":{"title":"NGM-SLAM: Gaussian Splatting SLAM with Radiance Field Submap","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Aaron Xuxiang Tian, Hongyu Wang, Jingwei Huang, Lei Sun, Mingrui Li, Tianchen Deng","submitted_at":"2024-05-09T11:57:42Z","abstract_excerpt":"SLAM systems based on Gaussian Splatting have garnered attention due to their capabilities for rapid real-time rendering and high-fidelity mapping. However, current Gaussian Splatting SLAM systems usually struggle with large scene representation and lack effective loop closure detection. To address these issues, we introduce NGM-SLAM, the first 3DGS based SLAM system that utilizes neural radiance field submaps for progressive scene expression, effectively integrating the strengths of neural radiance fields and 3D Gaussian Splatting. We utilize neural radiance field submaps as supervision and a"},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"2405.05702","kind":"arxiv","version":8},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-05-09T11:57:42Z","cross_cats_sorted":[],"title_canon_sha256":"038064a7792b8fcfa1424d635bdd5bfa50aaf6041e94bada553474e38bdbe66b","abstract_canon_sha256":"a357fc4f55cb6fc65856459c9ba5bd8b3261dfa4c3f5434b28c7beb3e0c75586"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T10:53:10.027953Z","signature_b64":"InAdZCIm9BrYjSQRnpHHQoibYj9TLXI52lwhiC08NFtnpYabrESkMET6gJcksxrldxFpJAX/O9SI19GJQQfKAA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"dc2ca515160845e3d0868cd1b1973068fccc63429dc460c8099867efd8c66c4e","last_reissued_at":"2026-07-05T10:53:10.027490Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T10:53:10.027490Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"NGM-SLAM: Gaussian Splatting SLAM with Radiance Field Submap","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Aaron Xuxiang Tian, Hongyu Wang, Jingwei Huang, Lei Sun, Mingrui Li, Tianchen Deng","submitted_at":"2024-05-09T11:57:42Z","abstract_excerpt":"SLAM systems based on Gaussian Splatting have garnered attention due to their capabilities for rapid real-time rendering and high-fidelity mapping. However, current Gaussian Splatting SLAM systems usually struggle with large scene representation and lack effective loop closure detection. To address these issues, we introduce NGM-SLAM, the first 3DGS based SLAM system that utilizes neural radiance field submaps for progressive scene expression, effectively integrating the strengths of neural radiance fields and 3D Gaussian Splatting. We utilize neural radiance field submaps as supervision and a"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2405.05702","kind":"arxiv","version":8},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2405.05702/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"},"aliases":[{"alias_kind":"arxiv","alias_value":"2405.05702","created_at":"2026-07-05T10:53:10.027553+00:00"},{"alias_kind":"arxiv_version","alias_value":"2405.05702v8","created_at":"2026-07-05T10:53:10.027553+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2405.05702","created_at":"2026-07-05T10:53:10.027553+00:00"},{"alias_kind":"pith_short_12","alias_value":"3QWKKFIWBBC6","created_at":"2026-07-05T10:53:10.027553+00:00"},{"alias_kind":"pith_short_16","alias_value":"3QWKKFIWBBC6HUEG","created_at":"2026-07-05T10:53:10.027553+00:00"},{"alias_kind":"pith_short_8","alias_value":"3QWKKFIW","created_at":"2026-07-05T10:53:10.027553+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":0,"internal_anchor_count":0,"sample":[]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/3QWKKFIWBBC6HUEGRTI3DFZQND","json":"https://pith.science/pith/3QWKKFIWBBC6HUEGRTI3DFZQND.json","graph_json":"https://pith.science/api/pith-number/3QWKKFIWBBC6HUEGRTI3DFZQND/graph.json","events_json":"https://pith.science/api/pith-number/3QWKKFIWBBC6HUEGRTI3DFZQND/events.json","paper":"https://pith.science/paper/3QWKKFIW"},"agent_actions":{"view_html":"https://pith.science/pith/3QWKKFIWBBC6HUEGRTI3DFZQND","download_json":"https://pith.science/pith/3QWKKFIWBBC6HUEGRTI3DFZQND.json","view_paper":"https://pith.science/paper/3QWKKFIW","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2405.05702&json=true","fetch_graph":"https://pith.science/api/pith-number/3QWKKFIWBBC6HUEGRTI3DFZQND/graph.json","fetch_events":"https://pith.science/api/pith-number/3QWKKFIWBBC6HUEGRTI3DFZQND/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/3QWKKFIWBBC6HUEGRTI3DFZQND/action/timestamp_anchor","attest_storage":"https://pith.science/pith/3QWKKFIWBBC6HUEGRTI3DFZQND/action/storage_attestation","attest_author":"https://pith.science/pith/3QWKKFIWBBC6HUEGRTI3DFZQND/action/author_attestation","sign_citation":"https://pith.science/pith/3QWKKFIWBBC6HUEGRTI3DFZQND/action/citation_signature","submit_replication":"https://pith.science/pith/3QWKKFIWBBC6HUEGRTI3DFZQND/action/replication_record"}},"created_at":"2026-07-05T10:53:10.027553+00:00","updated_at":"2026-07-05T10:53:10.027553+00:00"}