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Simultaneous Localization and Mapping

Simultaneous localization and mapping (SLAM) is the task of constructing or updating a map of an unknown environment while simultaneously keeping track of an agent's location within it.

( Image credit: ORB-SLAM2 )

Papers

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Showing 1–50 of 572 papers

TitleStatusHype
How NeRFs and 3D Gaussian Splatting are Reshaping SLAM: a SurveyCode5
RGBD GS-ICP SLAMCode4
SplaTAM: Splat, Track & Map 3D Gaussians for Dense RGB-D SLAMCode4
R^3LIVE++: A Robust, Real-time, Radiance reconstruction package with a tightly-coupled LiDAR-Inertial-Visual state EstimatorCode4
SupeRANSAC: One RANSAC to Rule Them AllCode3
MAGiC-SLAM: Multi-Agent Gaussian Globally Consistent SLAMCode3
LoopSplat: Loop Closure by Registering 3D Gaussian SplatsCode3
NGD-SLAM: Towards Real-Time Dynamic SLAM without GPUCode3
DBA-Fusion: Tightly Integrating Deep Dense Visual Bundle Adjustment with Multiple Sensors for Large-Scale Localization and MappingCode3
SGS-SLAM: Semantic Gaussian Splatting For Neural Dense SLAMCode3
Gaussian-SLAM: Photo-realistic Dense SLAM with Gaussian SplattingCode3
SuperPoint-SLAM3: Augmenting ORB-SLAM3 with Deep Features, Adaptive NMS, and Learning-Based Loop ClosureCode2
Place Recognition: A Comprehensive Review, Current Challenges and Future DirectionsCode2
AQUA-SLAM: Tightly-Coupled Underwater Acoustic-Visual-Inertial SLAM with Sensor CalibrationCode2
FlexCloud: Direct, Modular Georeferencing and Drift-Correction of Point Cloud MapsCode2
Advancing Dense Endoscopic Reconstruction with Gaussian Splatting-driven Surface Normal-aware Tracking and MappingCode2
Open-Vocabulary Online Semantic Mapping for SLAMCode2
MBA-SLAM: Motion Blur Aware Dense Visual SLAM with Radiance Fields RepresentationCode2
ESVO2: Direct Visual-Inertial Odometry with Stereo Event CamerasCode2
CaRtGS: Computational Alignment for Real-Time Gaussian Splatting SLAMCode2
Event-based Stereo Depth Estimation: A SurveyCode2
RaNDT SLAM: Radar SLAM Based on Intensity-Augmented Normal Distributions TransformCode2
GV-Bench: Benchmarking Local Feature Matching for Geometric Verification of Long-term Loop Closure DetectionCode2
Hyperion - A fast, versatile symbolic Gaussian Belief Propagation framework for Continuous-Time SLAMCode2
From Perfect to Noisy World Simulation: Customizable Embodied Multi-modal Perturbations for SLAM Robustness BenchmarkingCode2
Splat-SLAM: Globally Optimized RGB-only SLAM with 3D GaussiansCode2
General Place Recognition Survey: Towards Real-World AutonomyCode2
GlORIE-SLAM: Globally Optimized RGB-only Implicit Encoding Point Cloud SLAMCode2
CG-SLAM: Efficient Dense RGB-D SLAM in a Consistent Uncertainty-aware 3D Gaussian FieldCode2
VOOM: Robust Visual Object Odometry and Mapping using Hierarchical LandmarksCode2
Customizable Perturbation Synthesis for Robust SLAM BenchmarkingCode2
GO-SLAM: Global Optimization for Consistent 3D Instant ReconstructionCode2
Point-SLAM: Dense Neural Point Cloud-based SLAMCode2
Swarm-SLAM : Sparse Decentralized Collaborative Simultaneous Localization and Mapping Framework for Multi-Robot SystemsCode2
ESLAM: Efficient Dense SLAM System Based on Hybrid Representation of Signed Distance FieldsCode2
BoW3D: Bag of Words for Real-Time Loop Closing in 3D LiDAR SLAMCode2
NICE-SLAM: Neural Implicit Scalable Encoding for SLAMCode2
3D Dynamic Scene Graphs: Actionable Spatial Perception with Places, Objects, and HumansCode2
Embracing Dynamics: Dynamics-aware 4D Gaussian Splatting SLAMCode1
Multimodal Fusion and Vision-Language Models: A Survey for Robot VisionCode1
Monocular visual simultaneous localization and mapping: (r)evolution from geometry to deep learning-based pipelinesCode1
Query Quantized Neural SLAMCode1
NeRF and Gaussian Splatting SLAM in the WildCode1
ROVER: A Multi-Season Dataset for Visual SLAMCode1
LCP-Fusion: A Neural Implicit SLAM with Enhanced Local Constraints and Computable PriorCode1
LGU-SLAM: Learnable Gaussian Uncertainty Matching with Deformable Correlation Sampling for Deep Visual SLAMCode1
NYC-Event-VPR: A Large-Scale High-Resolution Event-Based Visual Place Recognition Dataset in Dense Urban EnvironmentsCode1
QueensCAMP: an RGB-D dataset for robust Visual SLAMCode1
V3D-SLAM: Robust RGB-D SLAM in Dynamic Environments with 3D Semantic Geometry VotingCode1
BodySLAM: A Generalized Monocular Visual SLAM Framework for Surgical ApplicationsCode1
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