3DGS SLAM

3DGS: 3D Gaussian Splatting · SLAM: Simultaneous Localization and Mapping

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Overview

The field studies how a camera can track its motion while incrementally building a detailed, view-renderable 3D map from images and other sensors. Systems optimize Gaussian maps and camera poses using photometric and geometric cues, with approaches spanning monocular, RGB-D, visual-inertial, and LiDAR setups; some add learned depth or pose priors, loop closure, semantic features, or uncertainty estimates. Work also extends Gaussian maps to dynamic and deformable scenes, and commonly evaluates tracking and rendering on benchmarks such as TUM RGB-D, Replica, ScanNet, and KITTI. A central tension is balancing map quality and robust global tracking against optimization time, memory use, and reliability in challenging conditions such as motion, blur, and large outdoor scenes.

Latest papers

CardsList

63 papers6 papers in the last four weeks, down 45% on the four weeks before. 0.0% of all new papers.

  1. LingGS: Decoupling Feed-Forward Geometry Prediction from Camera Tracking for High-Fidelity Gaussian SLAM

    Oct 27, 2026Da Li, Yihan Zang, Ivan Viola +23DGS SLAMStreaming 3D Reconstruction

    King Abdullah University of Science and Technology · The Hong Kong University of Science and Technology (Guangzhou)

  2. SG^2SLAM: Spatial Geometry-Informed 3D Gaussian Splatting SLAM for Monocular Outdoor Navigation

    Oct 26, 2026Ziang Guo, Didar Seyidov, Yixiao Zhou +53DGS SLAMVisual SLAM

    Intelligent Space Robotics Laboratory, Skolkovo Institute of Science and Technology, Moscow, Russia. · Department of Electrical and Electronic Engineering, The University of Hong Kong, China. · SuZhou Automotive Research Institute, Tsinghua University, China. +2

  3. GOFusion: Real-Time Gaussian-Occupancy Submap Fusion for Fisher-Informed Autonomous Robot Navigation

    Oct 18, 2026Boxin Bu, Simon Boche, Haoming Zhang +63DGS SLAMRobot Navigation

    Mobile Robotics Lab, Technical University of Munich and ETH Zurich. · Learning Systems & Robotics Lab, Technical University of Munich and Institute of Robotics and Machine Intelligence (MIRMI). · Human-Centered Computing and Extended Reality Lab, TUM University Hospital, Clinic for Orthopedics and Sports Orthopedics, Munich Institute of Robotics and Machine Intelligence (MIRMI). +1

  4. KFS4^4LAM: Adaptive KeyFrame Selection with Structure-Aware Mapping for Endoscopic Gaussian Splatting SLAM

    Oct 15, 2026Xinwei Ju, Zhehua Mao, Tianyi Song +33D Mapping3DGS SLAM

    Hawkes Institute, University College London, London, W1W 7TY, UK

  5. HyperLoop: Hyperspectral-Assisted Loop Closure Detection in 3D-SLAM for Planetary Exploration

    Oct 14, 2026Annie Bhalla, Dennis Rotondi, Riccardo Giubilato +2Loop Closure DetectionSpace Robotics

    Institute for Artificial Intelligence (AI), University of Stuttgart, Universitätsstraße 32, 70569 Stuttgart, Germany. · German Aerospace Center (DLR), Institute of Robotics and Mechatronics, 82234 Oberpfaffenhofen, Germany.

  6. Gaussian Splatting for Real-Time Scene Reconstruction: Methods, Systems, and Trade-offs

    Oct 13, 2026Ashim Dahal, Rabab Abdelfattah, Nick Rahimi3D Gaussian Splatting3D Reconstruction

    School of Computing and Computer Engineering, University of Southern Mississippi, Hattiesburg, MS, 39401, USA

  7. Physical SLAM: Physics-aware Simultaneous Localisation and Mapping

    Oct 12, 2026Guangming Wang, Zhishuo Liu, Haibing Wu +4Dynamic Scene Reconstruction3DGS SLAM

    All authors are with the University of Cambridge, Cambridge, U.K.

  8. RRG-SLAM: Real-time Reflection-aware Gaussian SLAM for Indoor Scenes

    Sep 28, 2026Yong Liu, Keyang Ye, Zhexi Peng +3Simultaneous Localization and Mapping3DGS SLAM

    State Key Laboratory of CAD&CG, Zhejiang University, China

  9. ArborSplat: Online Semantic Gaussian Splatting SLAM for Orchards

    Sep 22, 2026Alessandro Masini, Matteo Frosi, Mirko Usuelli +13DGS SLAM3D Semantic Segmentation

    Dipartimento di Elettronica, Informazione e Bioingegneria (DEIB), Politecnico di Milano, 20133 Milano, Italy

  10. Dual Covariance Gaussian Splatting SLAM: Decoupling Rendering and Registration for Robust Real-Time Tracking

    Sep 22, 2026Edward Beng Wai Tan, Siew-Kei Lam3D Gaussian Splatting3DGS SLAM

    College of Computing and Data Science, Nanyang Technological University, Singapore.

  11. BayesianGS-SLAM: Uncertainty-Aware Neural Rendering SLAM via Probabilistic Formulation

    Sep 21, 2026Kyeongsu Kang, Seongbo Ha, Sibaek Lee +1Simultaneous Localization and Mapping3DGS SLAM

    Department of Intelligent Robotics, Sungkyunkwan University, Suwon, South Korea

  12. Elevator-VIGS: Separating Elevator Motion from Robot Motion in Visual-Inertial Gaussian Splatting SLAM

    Sep 20, 2026Rui Zhou, Zihan Zhu, Wei Zhang +3Simultaneous Localization and Mapping3DGS SLAM

    University of Zürich · ETH Zürich · University of Stuttgart +1

  13. Cube-Splat: High-Fidelity 360° Gaussian Splatting SLAM via Cubemap Factorization and Adjoint-Consistent Optimization

    Sep 18, 2026Xiangfei Guo, Hao Shi, Yufan Zhang +43DGS SLAMVisual SLAM

    Zhejiang University · Ant Group

  14. RawSLAM: Online HDR Gaussian SLAM from Linear Radiance

    Sep 17, 2026Marina Orozco González, Luis Merino3D Gaussian Splatting3DGS SLAM

  15. EliGSiR: Continual RGB-D Mapping with Gaussian Splatting under Bounded Compute

    Sep 17, 2026Björn Ellensohn, Elmar Rueckert, Christian Rauch3D Gaussian SplattingStreaming 3D Reconstruction

    TUM

  16. VGGT-GS SLAM: Uncalibrated Monocular Gaussian Splatting SLAM with Feed-Forward Priors

    Sep 17, 2026Yuhang Han, Hao Wang, Jiaxi Cao +13D Gaussian Splatting3DGS SLAM

    National University of Singapore, Singapore

  17. PanoGS-SLAM: Panoramic 3D Gaussian Splatting SLAM

    Sep 15, 2026Yongqi Mao, Hao Shi, Yufan Zhang +3Simultaneous Localization and Mapping3D Gaussian Splatting

    Zhejiang University · Ant Group · National University of Defense Technology

  18. SCOUT-SLAM: Structurally-Coupled Dual Uncertainty-Aware 3DGS SLAM in the Wild

    Sep 13, 2026Kumaran Karthik, Pramat Shastri Jois, Suresh Sundaram3DGS SLAMSimultaneous Localization and Mapping

    Indian Institute of Science

  19. LightSplat: Real-Time High-Fidelity 3D Gaussian SLAM with Loop Closure

    Sep 7, 2026Junze Bao, Ye Gao, Yiming Huang +5Simultaneous Localization and Mapping3D Gaussian Splatting

    School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, P. R. China, and also with Zhejiang Key Laboratory of Industrial Big Data and Robot Intelligent Systems, Hangzhou Innovation Institute, Beihang University, Hangzhou 310051, P. R. China. · School of Mechanical Engineering, Zhejiang Sci-Tech University, Hangzhou 310018, P. R. China.

  20. RoSe-SLAM: Robust Semantic-Aware Gaussian Splatting SLAM from Dynamic Monocular Videos

    Aug 29, 2026Wenting Wang, Jiaxin Guo, Wenzhen Dong +3Dynamic SLAMVisual SLAM

    Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong SAR. · Department of Mechanical, Aerospace and Civil Engineering, The University of Manchester, Manchester, UK. · Centre for Perceptual and Interactive Intelligence (CPII) Limited, Hong Kong SAR.

  21. CGS-SLAM: Collaborative Gaussian Splatting based SLAM for Multi-Agent Reconstruction

    Aug 27, 2026Jean-Daniel de Ambrogi, Aladine Chetouani, Vincent Nguyen +13DGS SLAMVisual-Inertial SLAM

    Université Sorbonne Paris Nord, L2TI, UR 3043, F-93430, Villetaneuse, France · SAS IMPACT, Orléans, France · Université d’Orléans, INSA CVL, LIFO, UR 4022, Orléans, France

  22. AquaFlow: A Monocular Gaussian Splatting SLAM for Underwater Streaming Reconstruction

    Aug 24, 2026Yingxiang Xu, Kerui Ren, Wenqi Guo +4Underwater 3D Reconstruction3DGS SLAM

    Zhejiang University · Shanghai AI Laboratory · Shanghai Jiao Tong University +3

  23. MotionGS-SLAM: Event-Modulated Gaussian Splatting for Motion-Blur Robust SLAM

    Aug 15, 2026Zhiqiang Hu, Shouren Huang, Masatoshi IshikawaVisual SLAM3DGS SLAM

    Research Institute for Science & Technology, Tokyo University of Science

  24. Geometry-Aware Online Mapping for 3D Gaussian Splatting SLAM

    Aug 14, 2026Thai Luu, Quan Tran, Hieu Phan +13DGS SLAM3D Gaussian Splatting

    Cognitive Robotics Lab, Department of Electrical Engineering and Computer Science, University of Arkansas, USA. · Center for AI Research, VinUniversity, Ha Noi, Vietnam.

  25. EndoMD-SLAM: Endoscopic Gaussian Splatting SLAM under Optical Degradation with Memory and Static-Transient Decomposition

    Aug 9, 2026Nuo Chen, Kangqi Ni, Lulin Liu +5Simultaneous Localization and Mapping3DGS SLAM

    Texas A&M University, College Station, TX, USA · University of North Carolina at Chapel Hill, Chapel Hill, NC, USA · University of Minnesota, Minneapolis, MN, USA +1

  26. Stipple: Real-Time Incremental Gaussian Splatting with Visual-Inertial Tracking

    Aug 2, 2026Kilian Northoff, Mateo de Mayo, Daniel Cremers3D Gaussian SplattingStreaming 3D Reconstruction

    Technical University of Munich, Munich, Germany · Munich Center for Machine Learning, Munich, Germany

  27. GLAM-SLAM: Real-time Gaussian Large-scale Mapping via Flow Densification and Spatial Decomposition

    Jul 23, 2026Panagiotis Mermigkas, Argyris Manetas, Petros MaragosSimultaneous Localization and Mapping3D Gaussian Splatting

    HERON - Hellenic Robotics Center of Excellence, Athena Research Center, Greece. · Institute of Robotics, Athena Research Center, Marousi, Greece. · Electrical and Computer Engineering, National Technical University of Athens, 15780 Zografou, Athens, Greece.

  28. GeoGS-SLAM: Online Monocular Reconstruction Using Gaussian Splatting with Geometric Priors

    Jul 13, 2026Ruilan Gao, Letian Jin, Yu ZhangSimultaneous Localization and Mapping3D Gaussian Splatting

    State Key Laboratory of Industrial Control Technology, College of Control Science and Engineering, Zhejiang University, Hangzhou, China, 310027. · Key Laboratory of Collaborative Sensing and Autonomous Unmanned Systems of Zhejiang Province, Hangzhou, China, 310027.

  29. AnythingReality: Robust Online Gaussian Splatting SLAM for Open-Vocabulary VR Scene Exploration

    Jul 10, 2026Timofei Kozlov, Dmitrii Maliukov, Andrey Marchenko +23D Gaussian SplattingStreaming 3D Reconstruction

    Intelligent Space Robotics Laboratory, Skolkovo Institute of Science and Technology, Moscow, Moscow, Russian Federation · NLP Research Center, Moscow, Russian Federation

  30. Track2Map: Online Deformable SLAM with Motion-Aware Pose Optimization in Robotic Surgery

    Jul 9, 2026Tianyi Song, Sierra Bonilla, Xinwei Ju +6Simultaneous Localization and Mapping3D Gaussian Splatting

    Department of Computer Science and UCL Hawkes Institute, University College London, London WC1E 6BT, UK · Intuitive Surgical, Inc., Sunnyvale, CA 94086, USA