awesome-NeRF-and-3DGS-SLAM

awesome-NeRF-and-3DGS-SLAM

This repo contains a curative list of NeRF and 3D Gaussian Splatting papers relating to SLAM/Robotics domain, inspired by Awesome-Implicit-NeRF-Robotics

Please feel free to send me pull requests or email to add papers!

If you find this repository useful, please consider citing and STARing this list. Feel free to share this list with others!

For an overview of NeRFs, checkout the Survey (Neural Volume Rendering: NeRF And Beyond and NeRF: Neural Radiance Field in 3D Vision, A Comprehensive Review), Blog post (NeRF Explosion 2020) and Collection (awesome-NeRF).

For an overview of 3D Gaussian Splatting papers, checkout the Repository (awesome-3D-gaussian-splatting).

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Overview

• NeRF General Model
• Survey Paper
• Benchmarks
• Tutorials&Workshops
• NeRF SLAM
  • Visual-SLAM
  • Lidar-SLAM
  • Multimodal-SLAM
• 3DGS SLAM
  • 3D Gaussian Splatting Visual-SLAM
  • 3D Gaussian Splatting Lidar-SLAM
  • Multimodal 3D Gaussian Splatting SLAM
• Robotics
  • Manipulation/RL
  • Planning/Navigation
  • Localization
  • Re-localization
• Citation
• Acknowledgement

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NeRF General Model

• NeRF: Representing Scenes as Neural Radiance Fields for View Synthesis, ECCV, 2020. [Paper] [Tensorflow Code] [Webpage] [Video]

• ShAPO: Implicit Representations for Multi Object Shape Appearance and Pose Optimization, ECCV, 2022. [Paper] [Pytorch Code] [Webpage] [Video]
• NCF: Neural Correspondence Field for Object Pose Estimation, ECCV, 2022. [Paper] [Pytorch Code] [Webpage]
• Neural-Sim: Learning to Generate Training Data with NeRF, ECCV 2022. [Paper] [Pytorch Code] [Webpage]
• SNAKE: SNAKE: Shape-aware Neural 3D Keypoint Field, NeurIPS, 2022. [Paper] [Pytorch Code]
• NeRF-RPN: A general framework for object detection in NeRFs, PR, 2022. [Paper] [Video]
• nerf2nerf: Pairwise Registration of Neural Radiance Fields, ICRA, 2023. [Paper] [Pytorch Code] [Webpage] [Dataset]
• iNeRF: Inverting Neural Radiance Fields for Pose Estimation, IROS, 2021. [Paper] [Pytorch Code] [Website] [Dataset]
• Point-NeRF: Point-based Neural Radiance Fields, CVPR, 2022. [Paper] [Pytorch Code] [Website]
• Zip-NeRF: Anti-Aliased Grid-Based Neural Radiance Fields, ICCV, 2023. [Paper] [Website] [Video]
• Mip-NeRF 360: Unbounded Anti-Aliased Neural Radiance Fields, CVPR, 2022. [Paper] [JAX Code] [Website] [Dataset] [Video]
• F2-NeRF: Fast Neural Radiance Field Training with Free Camera Trajectories, CVPR, 2023. [Paper] [Pytorch Code] [Website] [Dataset]
• 3D Gaussian Splatting for Real-Time Radiance Field Rendering, SIGGRAPH, 2023. [Paper] [Website]
• 2D Gaussian Splatting for Geometrically Accurate Radiance Fields, SIGGRAPH, 2024. [Paper] [Website] [Code]
• Mip-splatting: Alias-free 3d gaussian splatting, CVPR, 2024. [Paper] [Website] [Code]
• Ever: Exact volumetric ellipsoid rendering for real-time view synthesis, arXiv, 2024. [Paper] [Website] [Code]

Survey Paper

• How NeRFs and 3D Gaussian Splatting are Reshaping SLAM: a Survey, arXiv, 2024. [Paper]
• SLAM Meets NeRF: A Survey of Implicit SLAM Methods, World Electric Vehicle Journal, 2024. [Paper]
• Neural Fields in Robotics: A Survey, arXiv, 2024. [Paper] [Website] [Code]
• NeRF in Robotics: A Survey, arXiv, 2024. [Paper]
• 3D Gaussian Splatting in Robotics: A Survey, arXiv, 2024. [Paper [Code]
• 结合隐式建图的视觉 SLAM 技术综述, 计算机辅助设计与图形学学报, 2025. [Paper]
• Is Semantic SLAM Ready for Embedded Systems ? A Comparative Survey, arXiv, 2025. [Paper]
• Beyond Implicit Representations: Exploring Gaussian Splatting for Next-Generation SLAM, Introduction and Review, IOTJ, 2025. [Paper]
• From Fields to Splats: A Cross-Domain Survey of Real-Time Neural Scene Representations, arXiv, 2025. [Paper]
• A Survey on Collaborative SLAM with 3D Gaussian Splatting, arXiv, 2025. [Paper]
• What Is The Best 3D Scene Representation for Robotics? From Geometric to Foundation Models, arXiv, 2025. [Paper] [awesome-repo]
• Towards Next-Generation SLAM: A Survey on 3DGS-SLAM Focusing on Performance, Robustness, and Future Directions, TCSVT, 2026. [Paper]
• Neural World Modeling and Environment Representation for Robotic Autonomy: From SLAM to Generative World Models, CRSL Innovation Journal, 2026. [Paper]
• Gaussian Splatting for real-time scene reconstruction: Methods, systems, and trade-offs, Pattern Recognition, 2026. [Paper]

Benchmarks

• Customizable Perturbation Synthesis for Robust SLAM Benchmarking, arXiv, 2024.[Paper]
• Benchmarking Implicit Neural Representation and Geometric Rendering in Real-Time RGB-D SLAM, CVPR, 2024. [Paper] [Code] [Website]
• Benchmarking Neural Radiance Fields for Autonomous Robots: An Overview, arXiv, 2024.[Paper]
• From Perfect to Noisy World Simulation: Customizable Embodied Multi-modal Perturbations for SLAM Robustness Benchmarking, arXiv, 2024.[Paper] [Code]
• Evaluating Modern Approaches in 3D Scene Reconstruction: NeRF vs Gaussian-Based Methods, arXiv, 2024.[Paper]
• NeRF and Gaussian Splatting SLAM in the Wild, arXiv, 2024.[Paper] [Code]
• SLAM&Render: A Benchmark for the Intersection Between Neural Rendering, Gaussian Splatting and SLAM, arXiv, 2025.[Paper] [Website] [Code]

Tools

• splatreg: splat-to-splat SE(3)/Sim(3) registration + multi-splat pose-graph bundle adjustment (loop-consistent submap alignment for 3DGS SLAM). pip install splatreg. [Code] [Docs]

Tutorials and Workshops

Workshops

• RoboNerF: 1st Workshop on Neural Fields in Robotics, ICRA, 2024. [Website] [Video]
• 1st Dense Neural SLAM Workshop (NeuSLAM), ECCV, 2024. [Website]
• 2nd Workshop on Neural SLAM (NeuSLAM), ICCV, 2025. [Website]

NeRF SLAM

Visual-SLAM

• NeuralRecon: Real-Time Coherent 3D Reconstruction from Monocular Video, CVPR, 2021.[Paper] [Pytorch Code] [Website]
• Di-fusion: Online implicit 3d reconstruction with deep priors, CVPR, 2021.[Paper] [Pytorch Code]

• iSDF: Real-Time Neural Signed Distance Fields for Robot Perception, RSS, 2022. [Paper] [Pytorch Code] [Website]
• LENS: LENS: Localization enhanced by NeRF synthesis, CoRL, 2021. [Paper] [Video]
• NICE-SLAM: Neural Implicit Scalable Encoding for SLAM, CVPR, 2021. [Paper] [Pytorch Code] [Website]
• iMAP: Implicit Mapping and Positioning in Real-Time, ICCV, 2021. [Paper] [Website] [Video]
• BNV-Fusion: BNV-Fusion: Dense 3D Reconstruction using Bi-level Neural Volume Fusion, CVPR, 2022. [Paper] [Pytorch Code]
• NeRF-SLAM: Real-Time Dense Monocular SLAM with Neural Radiance Fields, IROS, 2023. [Paper] [Pytorch Code] [Video]
• Nerfels: Renderable Neural Codes for Improved Camera Pose Estimation, CVPR 2022 Workshop. [Paper]
• SDF-based RGB-D Camera Tracking in Neural Scene Representations, ICRA Workshop, 2022. [Paper]
• Orbeez-SLAM: A Real-time Monocular Visual SLAM with ORB Features and NeRF-realized Mapping, ICRA, 2023. [Paper] [Video] [Code]
• ESLAM: Efficient Dense SLAM System Based on Hybrid Representation of Signed Distance Fields, CVPR, 2023. [Paper]
• Vox-Fusion: Dense Tracking and Mapping with Voxel-based Neural Implicit Representation, ISMAR, 2022. [Paper] [Website] [Pytorch Code] [Video]
• Visual-Inertial Odometry Priors for Bundle-Adjusting Neural Radiance Fields, ICCAS, 2022. [Paper]
• Feature-Realistic Neural Fusion for Real-Time, Open Set Scene Understanding, ICRA, 2022. [Paper] [Website] [Video]
• Towards Open World NeRF-Based SLAM, CRV, 2023. [Paper]
• Dense RGB SLAM with Neural Implicit Maps, ICLR, 2023. [Paper] [Website] [Code] [Video]
• vMAP: Vectorised Object Mapping for Neural Field SLAM, CVPR, 2023. [Paper] [Website] [Pytorch Code] [Video]
• NICER-SLAM: Neural Implicit Scene Encoding for RGB SLAM, 3DV 2024. [Paper] [Video]
• Implicit Map Augmentation for Relocalization, ECCV Workshop, 2022. [Paper]
• Uni-Fusion: Universal Continuous Mapping, TRO, 2023.[Paper] [Code] [Website]
• NEWTON: Neural View-Centric Mapping for On-the-Fly Large-Scale SLAM, RAL, 2024. [Paper]
• Point-SLAM: Dense Neural Point Cloud-based SLAM, ICCV, 2023. [Paper] [Code]
• RO-MAP: Real-Time Multi-Object Mapping with Neural Radiance Fields, RAL, 2023. [Paper] [Code] [Video]
• Co-SLAM: Joint Coordinate and Sparse Parametric Encodings for Neural Real-Time SLAM, CVPR, 2023. [Paper] [Website]
• Neural Implicit Dense Semantic SLAM, arXiv, 2023. [Paper] [Code]
• FMapping: Factorized Efficient Neural Field Mapping for Real-Time Dense RGB SLAM, arXiv, 2023. [Paper] [Website] [Code]
• UncLe-SLAM: Uncertainty Learning for Dense Neural SLAM, ICCVw, 2023. [Paper] [Code]
• iMODE:Real-Time Incremental Monocular Dense Mapping Using Neural Field, ICRA, 2023. [Paper]
• NISB-Map: Scalable Mapping With Neural Implicit Spatial Block, RAL, 2023. [Paper]
• RGB-D Mapping and Tracking in a Plenoxel Radiance Field, WACV, 2024. [Paper]
• Efficient Map Fusion for Multiple Implicit SLAM Agents, TIV, 2023. [Paper]
• MIPS-Fusion: Multi-Implicit-Submaps for Scalable and Robust Online Neural RGB-D Reconstruction, TOG, 2023. [Paper]
• GO-SLAM: Global Optimization for Consistent 3D Instant Reconstruction, ICCV, 2023. [Paper] [Website] [Code]
• End-to-End RGB-D SLAM with Multi-MLPs Dense Neural Implicit Representations, RAL, 2023. [Paper]
• DynaMoN: Motion-Aware Fast And Robust Camera Localization for Dynamic NeRF, RAL, 2024. [Paper] [Code] [Website]
• HI-SLAM: Monocular Real-time Dense Mapping with Hybrid Implicit Fields, RAL, 2023. [Paper] [Website]
• CP-SLAM: Collaborative Neural Point-based SLAM, NeurIPS, 2024. [Paper] [Code]
• Learning Neural Implicit through Volume Rendering with Attentive Depth Fusion Priors, NeurIPS, 2023. [Paper] [Code] [Website]
• NGEL-SLAM: Neural Implicit Representation-based Global Consistent Low-Latency SLAM System, ICRA, 2024. [Paper] [Code]
• SNI-SLAM: Semantic Neural Implicit SLAM, CVPR, 2024. [Paper] [Code]
• Implicit Event-RGBD Neural SLAM, CVPR, 2024. [Paper]
• DNS SLAM: Dense Neural Semantic-Informed SLAM, IROS, 2024. [Paper] Code]
• PLGSLAM: Progressive Neural Scene Represenation with Local to Global Bundle Adjustment, CVPR, 2024. [Paper] [Code]
• NeRF-VO: Real-Time Sparse Visual Odometry with Neural Radiance Fields, RAL, 2024. [Paper]
• Ternary-type Opacity and Hybrid Odometry for RGB-only NeRF-SLAM, IROS, 2024. [Paper]
• DN-SLAM: A Visual SLAM with ORB Features and NeRF Mapping in Dynamic Environments, Sensors, 2023. [Paper]
• NID-SLAM: Neural Implicit Representation-based RGB-D SLAM in dynamic environments, arXiv, 2024. [Paper]
• DDN-SLAM: Real-time Dense Dynamic Neural Implicit SLAM with Joint Semantic Encoding, RAL, 2025. [Paper] [Code]
• Hi-Map: Hierarchical Factorized Radiance Field for High-Fidelity Monocular Dense Mapping, arXiv, 2024. [Paper] [Website] [Code]
• NeuV-SLAM: Fast Neural Multiresolution Voxel Optimization for RGBD Dense SLAM, TMM, 2025. [Paper] [Code]
• Structerf-SLAM: Neural implicit representation SLAM for structural environments, Computers & Graphics, 2024. [Paper]
• Loopy-SLAM: Dense Neural SLAM with Loop Closures, CVPR, 2024. [Paper] [Code] [Website]
• Q-SLAM: Quadric Representations for Monocular SLAM, CoRL, 2024. [Paper]
• DVN-SLAM: Dynamic Visual Neural SLAM Based on Local-Global Encoding, ICRA, 2025. [Paper]
• H3-Mapping: Quasi-Heterogeneous Feature Grids for Real-time Dense Mapping Using Hierarchical Hybrid Representation, RAL, 2024. [Paper] [Code]
• Vox-Fusion++: Voxel-based Neural Implicit Dense Tracking and Mapping with Multi-maps, arXiv, 2024. [Paper] [Code]
• MUTE-SLAM: Real-Time Neural SLAM with Multiple Tri-Plane Hash Representations, arXiv, 2024. [Paper]
• GlORIE-SLAM: Globally Optimized RGB-only Implicit Encoding Point Cloud SLAM, arXiv, 2024. [Paper] [Code] [Website]
• Efficient 3D Instance Mapping and Localization with Neural Fields, ICRA, 2024. [Paper] [Website]
• NeSLAM: Neural Implicit Mapping and Self-Supervised Feature Tracking With Depth Completion and Denoising, arXiv, 2024. [Paper] [Code]
• KN-SLAM: Keypoints and Neural Implicit Encoding SLAM, TIM, 2024. [Paper]
• SLAIM: Robust Dense Neural SLAM for Online Tracking and Mapping, CVPRw, 2024. [Paper] [Code] [Website]
• EC-SLAM: Real-time Dense Neural RGB-D SLAM System with Effectively Constrained Global Bundle Adjustment, arXiv, 2024. [Paper] [Code]
• S3-SLAM: Sparse Tri-plane Encoding for Neural Implicit SLAM, arXiv, 2024. [Paper]
• DF-SLAM: Neural Feature Rendering Based on Dictionary Factors Representation for High-Fidelity Dense Visual SLAM System, arXiv, 2024. [Paper] [Code]
• Neural Graph Mapping for Dense SLAM with Efficient Loop Closure, arXiv, 2024. [Paper] [Code] [Website]
• VPE-SLAM: Neural Implicit Voxel-Permutohedral Encoding for SLAM, ICRA, 2024. [Paper] [Code]
• ONeK-SLAM: A Robust Object-Level Dense SLAM Based on Joint Neural Radiance Fields and Keypoints, ICRA 2024. [Paper]
• HERO-SLAM: Hybrid Enhanced Robust Optimization of Neural SLAM, ICRA, 2024. [Paper] [Code] [Website]
• NeB-SLAM: Neural Blocks-based Salable RGB-D SLAM for Unknown Scenes, arXiv, 2024. [Paper]
• ENeRF-SLAM:A Dense Endoscopic SLAM With Neural Implicit Representation, TMRB, 2024. [Paper] [Code]
• IBD-SLAM: Learning Image-Based Depth Fusion for Generalizable SLAM, CVPR, 2024. [Paper] [Website]
• RoDyn-SLAM: Robust Dynamic Dense RGB-D SLAM with Neural Radiance Fields, RAL, 2024. [Paper] [Code]
• MoD-SLAM: Monocular Dense Mapping for Unbounded 3D Scene Reconstruction, RAL, 2024. [Paper]
• Evaluating geometric accuracy of NeRF reconstructions compared to SLAM method, arXiv, 2024. [Paper]
• I2-SLAM: Inverting Imaging Process for Robust Photorealistic Dense SLAM, ECCV, 2024. [Paper]
• An Artificial-Intelligence-based SLAM Processor with Scene-adaptive Sampling and Hybrid NeRF Model Training Acceleration, TCASAI, 2024. [Paper]
• TivNe-SLAM: Dynamic Mapping and Tracking via Time-Varying Neural Radiance Fields, IROS, 2024. [Paper]
• NIS-SLAM: Neural Implicit Semantic RGB-D SLAM for 3D Consistent Scene Understanding, TVCG, 2024. [Paper] [Website]
• DDS-SLAM: Dense Semantic Neural SLAM for Deforming Endoscopic Scenes, IROS, 2024. [Paper] [Code]
• FI-SLAM: Feature Fusion and Instance Reconstruction for Neural Implicit SLAM, IROS, 2024. [Paper] [Code]
• LCP-Fusion: A Neural Implicit SLAM with Enhanced Local Constraints and Computable Prior, IROS, 2024. [Paper] [Code]
• NF-SLAM: Effective, Normalizing Flow-supported Neural Field representations for object-level visual SLAM in automotive applications, IROS, 2024. [Paper] [Code]
• EvenNICER-SLAM: Event-based Neural Implicit Encoding SLAM, arXiv, 2024. [Paper] [Code]
• NVINS: Robust Visual Inertial Navigation Fused with NeRF-augmented Camera Pose Regressor and Uncertainty Quantification, IROS, 2024. [Paper]
• Optimizing NeRF-based SLAM with Trajectory Smoothness Constraints, ICRA, 2025. [Paper]
• LRSLAM: Low-rank Representation of Signed Distance Fields in Dense Visual SLAM System, ECCV, 2024. [Paper]
• Bridging the Gap Between Explicit and Implicit Representations: Cross-Data Association for VSLAM, TITS, 2024. [Paper]
• DNIV-SLAM: Neural Implicit Visual SLAM in Dynamic Environments, PRCV, 2024. [Paper]
• Improved End-to-End Multilevel NeRF-Based Dense RGB-D SLAM, PRCV, 2024. [Paper]
• MBA-SLAM: Motion Blur Aware Dense Visual SLAM with Radiance Fields Representation, arXiv, 2024. [Paper] [Code] [Website]
• Uni-SLAM: Uncertainty-Aware Neural Implicit SLAM for Real-Time Dense Indoor Scene Reconstruction, arXiv, 2024. [Paper] [Website]
• iS-MAP: Neural Implicit Mapping and Positioning for Structural Environments, ACCV, 2024. [Paper] [Code]
• Enhancing Neural Implicit Representation-Based SLAM Performance through Depth Image Smoothing Utilizing Gradient-Aware Depth, ICCAS, 2024. [Paper]

• Query Quantized Neural SLAM, AAAI, 2025. [Paper] [Code] [Website]
• Hierarchical Pose Estimation and Mapping with Multi-scale Neural Feature Fields, IRC, 2024. [Paper]
• Mee-SLAM: Memory efficient endoscopic RGB SLAM with implicit scene representation, Expert Systems with Applications, 2025. [Paper]
• Bayesian NeRF: Quantifying Uncertainty with Volume Density for Neural Implicit Fields, RAL, 2025. [Paper]
• SP-SLAM: Neural Real-Time Dense SLAM With Scene Priors, TCSVT, 2025. [Paper]
• SLC2-SLAM: Semantic-guided Loop Closure with Shared Latent Code for NeRF SLAM, RAL, 2025. [Paper]
• HI-SLAM: Hierarchical implicit neural representation for SLAM, Expert Systems with Applications, 2025. [Paper]
• FND-SLAM: A SLAM system using feature points and NeRF in dynamic environments based on RGB-D sensors, Sensors, 2025. [Paper]
• DMN-SLAM: Multi-MLPs Neural Implicit Representation SLAM for Dynamic Environments, Access, 2025. [Paper]
• Category-level Meta-learned NeRF Priors for Efficient Object Mapping, IROS, 2025. [Paper]
• Proud-SLAM: Neural Point-based Hybrid RGBD Monocular Dense SLAM, ICASSP, 2025. [Paper]
• NeRF-VIO: Map-Based Visual-Inertial Odometry with Initialization Leveraging Neural Radiance Fields, arXiv, 2025. [Paper]
• HS-SLAM: Hybrid Representation with Structural Supervision for Improved Dense SLAM, ICRA, 2025. [Paper] [Website]
• TNIE-SLAM: Neural Implicit Surface Reconstruction for Tracking-Oriented SLAM, Journal of Intelligent & Robotic Systems, 2025. [Paper]
• Region sampling NeRF-SLAM based on Kolmogorov-Arnold network, arXiv, 2025. [Paper] [Code]
• NDF-SLAM: LiDAR SLAM based on neural distance field for registration and loop closure detection, Measurement, 2025. [Paper]
• MISO: Multiresolution Submap Optimization for Efficient Globally Consistent Neural Implicit Reconstruction, RSS, 2025. [Paper] [Code] [Website]
• Monocular Visual SLAM with Adjusting Neural Radiance Fields for 3D Reconstruction in Planetary Environments, TGRS, 2025. [Paper]
• YOLO-NeRFSLAM: underwater object detection for the visual NeRF-SLAM, Frontiers in Marine Science, 2025. [Paper]
• EC-SLAM: Effectively constrained neural RGB-D SLAM with TSDF hash encoding and joint optimization, PR, 2025. [Paper] [Code]
• DyMoSLAM: Improving Dynamic Monocular SLAM with Neural Scene Representation, Sensors, 2025. [Paper]
• Noise-Aware 3D Scene Reconstruction via Diffusion-Auxiliary Implicit SLAM, CISCE, 2025. [Paper]
• Spatial Coordinate Transformation for 3D Neural Implicit Mapping, RAL, 2025. [Paper] [Code]
• SDF-Guided Keyframe Selection: Novel Boost for NeRF SLAM Loop Closure, IROS, 2025. [Paper]
• SLC^2-SLAM: Semantic-Guided Loop Closure Using Shared Latent Code for NeRF SLAM, IROS, 2025. [Paper]
• High-Precision Visual SLAM for Dynamic Scenes Using Semantic–Geometric Feature Filtering and NeRF Maps, Electronics, 2025. [Paper]
• Mamba-SLAM: Enhancing Neural Implicit SLAM with Uncertainty and Mamba, ICME, 2025. [Paper]
• MARVO: Marine-Adaptive Radiance-aware Visual Odometry, arXiv, 2025. [Paper]
• SLNMapping: Super Lightweight Neural Mapping in Large-Scale Scenes, IJCV, 2026. [Paper] [Code]
• SNH-SLAM: Implicit Dense SLAM based on Scalable Neural-Hash Representation, TMM, 2025. [Paper] [Website]
• NeRF-Learner: A NeRF–SLAM Accelerator With Unified Inference and Training Compute-in-Memory for Simultaneous Neural Rendering and SLAM, IEEE Journal of Solid-State Circuits, 2025. [Paper]
• MHED-SLAM: Multi-Scale Hybrid Encoding-Based Decoupled SLAM, AAAI, 2026. [Paper]
• GTS-SLAM: A Tightly-Coupled GICP and 3D Gaussian Splatting Framework for Robust Dense SLAM in Underground Mines, MDPI Vehicles, 2026. [Paper]
•  MTE-SLAM: Multi-Tier Feature Fusion for Efficient Neural Semantic SLAM, ICRA, 2026. [Paper]
• HL-SLAM: Hybrid optimization and loop scene correction for NeRF-SLAM, Computer Vision and Image Understanding, 2026. [Paper]
• HNI-SLAM: Neural implicit SLAM for high quality reconstruction, Computers & Graphics, 2026. [Paper]
• CHOW-SLAM: Compact Hybrid Representation with Complementary Overlap Window Optimization for RGB-D SLAM, arXiv, 2026. [Paper] [Code]
• PMET-SLAM: Neural Implicit RGB-D SLAM With Photorealistic Mapping and Efficient Tracking, TITS, 2026. [Paper] [Code]
• Dynamic-Aware Neural Implicit SLAM for Robust Pose Estimation and Mapping in Challenging Environments, TIM, 2026. [Paper]
• CV-SLAM: coupling vision-enhancement for NeRF-based RGB-D SLAM, Multimedia Systems, 2026. [Paper]
• HIGS: Hierarchical Implicit Grids for Joint Geometric and Semantic Scene Understanding, arXiv, 2026. [Paper] [Code]
• KN-LIO: Kinematics and Neural Field Coupled LiDAR-Inertial Odometry, TIP, 2026. [Paper] [Code]
• OpenICE-SLAM: Open-Set Neural Implicit Encoding for Semantic SLAMy, arXiv, 2026. [Paper]

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Lidar-SLAM

• SHINE-Mapping: Large-Scale 3D Mapping Using Sparse Hierarchical Implicit Neural Representations, ICRA, 2022. [Paper] [Code]
• IR-MCL: Implicit Representation-based Online Global Localization, RAL, 2023. [Paper] [Code]
• Efficient Implicit Neural Reconstruction Using LiDAR, ICRA, 2023. [Paper] [Website] [Code] [Video]
• NeRF-LOAM: Neural Implicit Representation for Large-Scale Incremental LiDAR Odometry and Mapping, ICCV, 2023. [Paper] [Code]
• NF-Atlas: Multi-Volume Neural Feature Fields for Large Scale LiDAR Mapping, RAL, 2023. [Paper] [Website] [Code]
• Accurate Implicit Neural Mapping with More Compact Representation in Large-scale Scenes Using Ranging Data, RAL, 2023. [Paper]
• LONER: LiDAR Only Neural Representations for Real-Time SLAM, RAL, 2023. [Paper] [Website] [Code]
• PIN-SLAM: LiDAR SLAM Using a Point-Based Implicit Neural Representation for Achieving Global Map Consistency, TRO, 2024. [Paper] [Code]
• Towards Large-Scale Incremental Dense Mapping using Robot-centric Implicit Neural Representation, ICRA, 2024. [Paper] [Code] [Video]
• TNDF-Fusion: Implicit Truncated Neural Distance Field for LiDAR Dense Mapping and Localization in Large Urban Environments, RAL, 2024. [Paper]
• Neural Implicit Representation for Highly Dynamic LiDAR Mapping and Odometry, arXiv, 2024. [Paper]
• Multi-Agent Neural SLAM for Autonomous Robots, IROSw, 2024. [Paper]
• A Probabilistic Formulation of LiDAR Mapping with Neural Radiance Fields, arXiv, 2024. [Paper] [Code]
• INF-SLiM: Large-scale Implicit Neural Fields for Semantic LiDAR Mapping of Embodied AI Agents, 2025. [Paper]
• CLID-SLAM: A Coupled LiDAR-Inertial Neural Implicit Dense SLAM with Region-Specifc SDF Estimation, RAL, 2025. [Paper] [Code]
• S2KAN-SLAM: Elastic Neural LiDAR SLAM with SDF Submaps and Kolmogorov-Arnold Networks, TCSVT, 2025. [Paper]
• A Probabilistic Formulation of LiDAR Mapping With Neural Radiance Fields, RAL, 2025. [Paper] [Code]
• Accurate and Efficient LiDAR SLAM by Learning Unified Neural Descriptors, Access, 2025. [Paper]
• 3D-SLNR: A Super Lightweight Neural Representation for Large-scale 3D Mapping, CVPR, 2025. [Paper]
• CURL-SLAM: Continuous and Compact LiDAR Mapping, TRO, 2025. [Paper] [Code]
• UcPIN-SLAM: LiDAR SLAM Using Implicit Neural Representations with Uncertainty Modeling, Sensors, 2025. [Paper]
• Hi-LOAM: Hierarchical Implicit Neural Fields for LiDAR Odometry and Mapping, TMM, 2026. [Paper]
• Implicit Point-to-Voxel LiDAR-IMU SLAM, TASE, 2026. [Paper]
• Decomposition of Neural Discrete Representations for Efficient LiDAR Odometry and Mapping, TPAMI, 2026. [Paper]
• LIN-SLAM: Lightweight LiDAR–Inertial Neural SLAM for Real-Time Onboard Navigation, arXiv, 2026. [Paper]

Multimodal NeRF SLAM

• Multi-Modal Neural Radiance Field for Monocular Dense SLAM with a Light-Weight ToF Sensor, ICCV, 2023. [Paper] [Website] [Code]
• NeuRSS: Enhancing AUV Localization and Bathymetric Mapping with Neural Rendering for Sidescan SLAM, arXiv, 2024. [Paper]
• Rapid-Mapping: LiDAR-Visual Implicit Neural Representations for Real-Time Dense Mapping, RAL, 2024. [Paper] [Code]
• Neural Surface Reconstruction and Rendering for LiDAR-Visual Systems, arXiv, 2024. [Paper] [Code]
• Monocular thermal SLAM with neural radiance fields for 3D scene reconstruction, Neurocomputing, 2024. [Paper]
• UN3-Mapping: Uncertainty-aware Neural Non-Projective Signed Distance Fields for 3D Mapping, RAL, 2025. [Paper] [Code]

GS SLAM

Visual-based Gaussian Splatting SLAM

• GS-SLAM: Dense Visual SLAM with 3D Gaussian Splatting, CVPR, 2024. [Paper] [Code]
• Photo-SLAM: Real-time Simultaneous Localization and Photorealistic Mapping for Monocular, Stereo, and RGB-D Cameras, CVPR, 2024. [Paper] [Code]
• SplaTAM: Splat, Track & Map 3D Gaussians for Dense RGB-D SLAM, CVPR, 2024. [Paper] [Website] [Code]
• (MonoGS) Gaussian Splatting SLAM, CVPR, 2024. [Paper] [Code] [Website]
• Gaussian-SLAM: Photo-realistic Dense SLAM with Gaussian Splatting, arXiv, 2023. [Paper] [Code] [Website]
• SGS-SLAM: Semantic Gaussian Splatting For Neural Dense SLAM, ECCV, 2024. [Paper] [Code]
• SemGauss-SLAM: Dense Semantic Gaussian Splatting SLAM, IROS, 2025. [Paper] [Code]
• Compact 3D Gaussian Splatting For Dense Visual SLAM, arXiv, 2024. [Paper] [Code]
• NEDS-SLAM: A Novel Neural Explicit Dense Semantic SLAM Framework using 3D Gaussian Splatting, RAL, 2024. [Paper]
• High-Fidelity SLAM Using Gaussian Splatting with Rendering-Guided Densification and Regularized Optimization, IROS, 2024. [Paper]
• RGBD GS-ICP SLAM, ECCV, 2024. [Paper] [Code] [Video]
• EndoGSLAM: Real-Time Dense Reconstruction and Tracking in Endoscopic Surgeries using Gaussian Splatting, arXiv, 2024. [Paper] [Website] [Code]
• CG-SLAM: Efficient Dense RGB-D SLAM in a Consistent Uncertainty-aware 3D Gaussian Field, ECCV, 2024. [Paper] [Code] [Website]
• RTG-SLAM: Real-time 3D Reconstruction at Scale using Gaussian Splatting, SIGGRAPH, 2024. [Paper] [Code]
• MotionGS : Compact Gaussian Splatting SLAM by Motion Filter, arXiv, 2024. [Paper] [Code]
• Monocular Gaussian SLAM with Language Extended Loop Closure, arXiv, 2024. [Paper]
• Splat-SLAM: Globally Optimized RGB-only SLAM with 3D Gaussians, arXiv, 2024. [Paper] [Code] [Code Google Version]
• MG-SLAM: Structure Gaussian SLAM with Manhattan World Hypothesis, arXiv, 2024. [Paper]
• TAMBRIDGE: Bridging Frame-Centered Tracking and 3D Gaussian Splatting for Enhanced SLAM, arXiv, 2024. [Paper] [Code] [Website]
• GS3LAM: Gaussian Semantic Splatting SLAM, MM, 2024. [Paper] [Code]
• IG-SLAM: Instant Gaussian SLAM, arXiv, 2024. [Paper]
• Towards Real-Time Gaussian Splatting: Accelerating 3DGS through Photometric SLAM, arXiv, 2024. [Paper]
• Visual SLAM with 3D Gaussian Primitives and Depth Priors Enabling Novel View Synthesis, arXiv, 2024. [Paper]
• LoopSplat: Loop Closure by Registering 3D Gaussian Splats, , 3DV, 2025. [Paper] [Code] [Website]
• GSFusion: Online RGB-D Mapping Where Gaussian Splatting Meets TSDF Fusion, RAL, 2024. [Paper] [Code] [Website]
• OG-Mapping: Octree-based Structured 3D Gaussians for Online Dense Mapping, arXiv, 2024. [Paper]
• UDGS-SLAM: UniDepth Assisted Gaussian Splatting for Monocular SLAM, arXiv, 2024. [Paper]
• GEVO: Memory-Efficient Monocular Visual Odometry Using Gaussians, RAL, 2025. [Paper] [Code]
• GLC-SLAM: Gaussian Splatting SLAM with Efficient Loop Closure, ESWA, 2026. [Paper]
• Hier-SLAM:: Scaling-up Semantics in SLAM with a Hierarchically Categorical Gaussian Splatting, ICRA, 2025. [Paper] [Code]
• MGSO: Monocular Real-time Photometric SLAM with Efficient 3D Gaussian Splatting, ICRA, 2025. [Paper]
• Go-SLAM: Grounded Object Segmentation and Localization with Gaussian Splatting SLAM, arXiv, 2024. [Paper]
• CaRtGS: Computational Alignment for Real-Time Gaussian Splatting SLAM, RAL, 2025. [Paper] [Code] [Website]
• Robust Gaussian Splatting SLAM by Leveraging Loop Closure, arXiv, 2024. [Paper]
• ES-Gaussian: Gaussian Splatting Mapping via Error Space-Based Gaussian Completion, arXiv, 2024. [Paper] [Website] [Code]
• GS-EVT: Cross-Modal Event Camera Tracking based on Gaussian Splatting, arXiv, 2024. [Paper]
• GSORB-SLAM: Gaussian Splatting SLAM benefits from ORB features and Transmittance information, RAL, 2025. [Paper] [Website] [Code]
• DG-SLAM: Robust Dynamic Gaussian Splatting SLAM with Hybrid Pose Optimization, NeurIPS, 2024. [Paper] [Code]
• AG-SLAM: Active Gaussian Splatting SLAM, arXiv, 2024. [Paper]
• DGS-SLAM: Gaussian Splatting SLAM in Dynamic Environment, ICRA, 2025. [Paper] [Code]
• MonoGS++: Fast and Accurate Monocular RGB Gaussian SLAM, BMCV, 2024. [Paper]
• OVO-SLAM: Open-Vocabulary Online Simultaneous Localization and Mapping, arXiv, 2024. [Paper]
• Gassidy: Gaussian Splatting SLAM in Dynamic Environments, ICRA, 2025. [Paper]
• PG-SLAM: Photo-realistic and Geometry-aware RGB-D SLAM in Dynamic Environments, TRO, 2025. [Paper]
• MAGiC-SLAM: Multi-Agent Gaussian Globally Consistent SLAM, CVPR, 2025. [Paper] [Website] [Code]
• DROID-Splat: Combining end-to-end SLAM with 3D Gaussian Splatting, ICCVw, 2024. [Paper] [Code]
• HI-SLAM2: Geometry-Aware Gaussian SLAM for Fast Monocular Scene Reconstruction, TRO, 2025. [Paper] [Website] [Code]
• FlashSLAM: Accelerated RGB-D SLAM for Real-Time 3D Scene Reconstruction with Gaussian Splatting, arXiv, 2024. [Paper] [Website]
• RGBDS-SLAM: A RGB-D Semantic Dense SLAM Based on 3D Multi Level Pyramid Gaussian Splatting, RAL, 2025. [Paper] [Code]
• GauSPU: 3D Gaussian Splatting Processor for Real-Time SLAM Systems, MICRO, 2024. [Paper]
• RP-SLAM: Real-time Photorealistic SLAM with Efficient 3D Gaussian Splatting, TVCG, 2025. [Paper]
• NFL-BA: Improving Endoscopic SLA M with Near-Field Light Bundle Adjustment, NIPS, 2024. [Paper] [Website]
• MGS-SLAM: Monocular Sparse Tracking and Gaussian Mapping with Depth Smooth Regularization, RAL, 2024. [Paper] [Code]
• PanoSLAM: Panoptic 3D Scene Reconstruction via Gaussian SLAM, arXiv, 2025. [Paper] [Code]
• Scaffold-SLAM: Structured 3D Gaussians for Simultaneous Localization and Photorealistic Mapping, arXiv, 2025. [Paper]
• VINGS-Mono: Visual-Inertial Gaussian Splatting Monocular SLAM in Large Scenes, TRO, 2025. [Paper] [Website] [Code]
• VIGS SLAM: IMU-based Large-Scale 3D Gaussian Splatting SLAM, arXiv, 2025. [Paper]
• Advancing Dense Endoscopic Reconstruction with Gaussian Splatting-driven Surface Normal-aware Tracking and Mapping, ICRA, 2025. [Paper] [Code]
• GARAD-SLAM: 3D GAussian splatting for Real-time Anti Dynamic SLAM, ICRA, 2025. [Paper] [Code]
• DenseSplat: Densifying Gaussian Splatting SLAM with Neural Radiance Prior, TVCG, 2025. [Paper] [Code]
• DyGS-SLAM: Realistic Map Reconstruction in Dynamic Scenes Based on Double-Constrained Visual SLAM, Remote Sensing, 2025. [Paper]
• GS-GVINS: A Tightly-integrated GNSS-Visual-Inertial Navigation System Augmented by 3D Gaussian Splatting, arXiv, 2025. [Paper]
• Hier-SLAM++: Neuro-Symbolic Semantic SLAM with a Hierarchically Categorical Gaussian Splatting, arXiv, 2025. [Paper]
• (OpenGS-SLAM) RGB-Only Gaussian Splatting SLAM for Unbounded Outdoor Scenes, ICRA, 2025. [Paper] [Website]
• FGS-SLAM: Fourier-based Gaussian Splatting for Real-time SLAM with Sparse and Dense Map Fusion, IROS, 2025. [Paper] [Code]
• OpenGS-SLAM: Open-Set Dense Semantic SLAM with 3D Gaussian Splatting for Object-Level Scene Understanding, ICRA, 2025. [Paper] [Website]
• Direct Sparse Odometry with Continuous 3D Gaussian Maps for Indoor Environments, arXiv, 2025. [Paper]
• GigaSLAM: Large-Scale Monocular SLAM with Hierachical Gaussian Splats, SIGGRAPH Asia, 2025. [Paper] [Code]
• DynaGSLAM: Real-Time Gaussian-Splatting SLAM for Online Rendering, Tracking, Motion Predictions of Moving Objects in Dynamic Scenes, WACV, 2026. [Paper] [Website] [Code]
• Deblur Gaussian Splatting SLAM, arXiv, 2025. [Paper]
• GG-SLAM: An Object-Level SLAM System Using Gaussian Grouping and Splatting, Journal of Korea Robotics Society, 2025. [Paper]
• 4D Gaussian Splatting SLAM, ICCV, 2025. [Paper] [Code]
• GI-SLAM: Gaussian-Inertial SLAM, arXiv, 2025. [Paper]
• STAMICS: Splat, Track And Map with Integrated Consistency and Semantics for Dense RGB-D SLAM, arXiv, 2025. [Paper]
• WildGS-SLAM: Monocular Gaussian Splatting SLAM in Dynamic Environments, CVPR, 2025. [Paper] [Code] [Website]
• Embracing Dynamics: Dynamics-aware 4D Gaussian Splatting SLAM, arXiv, 2025. [Paper]
• FGO-SLAM: Enhancing Gaussian SLAM with Globally Consistent Opacity Radiance Field, ICRA, 2025. [Paper]
• VSS-SLAM: Voxelized Surfel Splatting for Geometally Accurate SLAM, ICRA, 2025. [Paper]
• JPG-SLAM: Joint Point-Gaussian Splatting Representation for Dense Dynamic SLAM, ICRA, 2025. [Paper]
• Large-Scale Gaussian Splatting SLAM, ICRA, 2025. [Paper] [Website]
• SAP-SLAM: Semantic-Assisted Perception SLAM with 3D Gaussian Splatting, ICRA, 2025. [Paper]
• Dy3DGS-SLAM: Monocular 3DGS-SLAM System for Dynamic Environments, ICRA, 2025. [Paper]
• ODHSR: Online Dense 3D Reconstruction of Humans and Scenes from Monocular Videos, CVPR, 2025. [Paper] [Code] [Website]
• SDD-SLAM: Semantic-Driven Dynamic SLAM with Gaussian Splatting, RAL, 2025. [Paper]
• ToF-Splatting: Dense SLAM using Sparse Time-of-Flight Depth and Multi-Frame Integration, ICCV, 2025. [Paper]
• Enhancing Gaussian Splatting SLAM with Feature-based Tracking, arXiv, 2025. [Paper]
• GSFF-SLAM: 3D Semantic Gaussian Splatting SLAM via Feature Field, arXiv, 2025. [Paper]
• GauS-SLAM: Dense RGB-D SLAM with Gaussian Surfels, RAL, 2026. [Paper] [Website] [[C