Ke Wu, Kaizhao Zhang, Zhiwei Zhang, Shanshuai Yuan, Muer Tie, Julong Wei, Zijun Xu, Jieru Zhao, Zhongxue Gan, Wenchao Ding: HGS-Mapping: Online Dense Mapping Using Hybrid Gaussian Representation in Urban Scenes. CoRR abs/2403.20159 (2024)