awesome-Implicit-NeRF-SLAM

This repo contains a curative list of Implicit Representations and NeRF 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]

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]
• NeRF in Robotics: A Survey, arXiv, 2024.[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]

Tutorials and Workshops

Workshops

• RoboNerF: 1st Workshop on Neural Fields in Robotics, ICRA, 2024. [Website] [Video]

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, arXiv, 2023. [Paper] [Code] [Website]
• HI-SLAM: Monocular Real-time Dense Mapping with Hybrid Implicit Fields, RAL, 2023. [Paper]
• 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, arXiv, 2024. [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, arXiv, 2024. [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, arXiv, 2024. [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]
• MGS-SLAM: Monocular Sparse Tracking and Gaussian Mapping with Depth Smooth Regularization, RAL, 2024. [Paper] [Code]
• 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, arXiv, 2024. [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]

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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]

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]

3DGS SLAM

3D Gaussian Splatting Visual-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]
• 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, arXiv, 2024. [Paper]
• 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]
• NGM-SLAM: Gaussian Splatting SLAM with Radiance Field Submap, arXiv, 2024. [Paper]
• 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, , arXiv, 2024. [Paper] [Code] [Website]
• GSFusion: Online RGB-D Mapping Where Gaussian Splatting Meets TSDF Fusion, arXiv, 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, arXiv, 2024. [Paper] [Code]
• GLC-SLAM: Gaussian Splatting SLAM with Efficient Loop Closure, arXiv, 2024. [Paper]
• Hi-SLAM: Scaling-up Semantics in SLAM with a Hierarchically Categorical Gaussian Splatting, arXiv, 2024. [Paper]
• MGSO: Monocular Real-time Photometric SLAM with Efficient 3D Gaussian Splatting, arXiv, 2024. [Paper]
• Go-SLAM: Grounded Object Segmentation and Localization with Gaussian Splatting SLAM, arXiv, 2024. [Paper]
• CaRtGS: Computational Alignment for Real-Time Gaussian Splatting SLAM, arXiv, 2024. [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, arXiv, 2024. [Paper]
• DG-SLAM: Robust Dynamic Gaussian Splatting SLAM with Hybrid Pose Optimization, NeurIPS, 2024. [Paper] [Code]
• AG-SLAM: Active Gaussian Splatting SLAM, arXiv, 2024. [Paper]

3D Gaussian Splatting Lidar-SLAM

Multimodal 3D Gaussian Splatting SLAM

• LIV-GaussMap: LiDAR-Inertial-Visual Fusion for Real-time 3D Radiance Field Map Rendering, RAL, 2024. [Paper] [Code]
• HGS-Mapping: Online Dense Mapping Using Hybrid Gaussian Representation in Urban Scenes, RAL, 2024. [Paper]
• MM3DGS SLAM: Multi-modal 3D Gaussian Splatting for SLAM Using Vision, Depth, and Inertial Measurements, IROS, 2024. [Paper] [Website] [Code]
• MM-Gaussian: 3D Gaussian-based Multi-modal Fusion for Localization and Reconstruction in Unbounded Scenes, IROS, 2024. [Paper]
• Gaussian-LIC: Photo-realistic LiDAR-Inertial-Camera SLAM with 3D Gaussian Splatting, arXiv, 2024. [Paper]
• LI-GS: Gaussian Splatting with LiDAR Incorporated for Accurate Large-Scale Reconstruction, arXiv, 2024. [Paper]
• GS-LIVM: Real-Time Photo-Realistic LiDAR-Inertial-Visual Mapping with Gaussian Splatting, arXiv, 2024. [Paper] [Code]
• LVI-GS: Tightly-coupled LiDAR-Visual-Inertial SLAM using 3D Gaussian Splatting, arXiv, 2024. [Paper] [Code] [Website]

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Robotics

Manipulation/RL

• Ditto: Building Digital Twins of Articulated Objects from Interaction, CVPR, 2022. [Paper] [Code] [Website]
• Relational-NDF:SE(3)-Equivariant Relational Rearrangement with Neural Descriptor Fields, CoRL 2022. [Paper] [Code] [Website]
• Neural Descriptor Fields:SE(3)-Equivariant Object Representations for Manipulation, ICRA, 2022. [Paper] [Code] [Website]
• Reinforcement Learning with Neural Radiance Fields, NeurIPS, 2022. [Paper] [Website]
• Neural Motion Fields: Encoding Grasp Trajectories as Implicit Value Functions, RSS 2022. [Paper] [Video]
• Grasping Field: Learning Implicit Representations for Human Grasps, 3DV 2020. [Paper] [Code] [Video]
• Dex-NeRF: Using a Neural Radiance Field to Grasp Transparent Objects, CoRL, 2021. [Paper] [Website]
• NeRF-Supervision: Learning Dense Object Descriptors from Neural Radiance Fields, ICRA, 2022. [Paper] [Code] [Website]
• GIGA: Synergies Between Affordance and Geometry: 6-DoF Grasp Detection via Implicit Representations, RSS, 2021. [Paper] [Code] [Website]
• NeuralGrasps: Learning Implicit Representations for Grasps of Multiple Robotic Hands, CoRL, 2022. [Paper] [Website]
• ObjectFolder: A Dataset of Objects with Implicit Visual, Auditory, and Tactile Representations, CoRL, 2021. [Paper] [Code] [Website]
• ObjectFolder 2.0: A Multisensory Object Dataset for Sim2Real Transfer, CVPR, 2022. [Paper] [Code] [Website]
• NeRF2Real: Sim2real Transfer of Vision-guided Bipedal Motion Skills using Neural Radiance Fields, ICRA, 2023. [Paper] [Website]
• Neural Fields for Robotic Object Manipulation from a Single Image / One-shot neural fields for 3d object understanding arXiv, 2022. [Paper] [Website]
• Local Neural Descriptor Fields: Locally Conditioned Object Representations for Manipulation, ICRA, 2023. [Paper] [Code] [Website]
• Equivariant Descriptor Fields: SE(3)-Equivariant Energy-Based Models for End-to-End Visual Robotic Manipulation Learning, ICLR, 2023. [Paper] [Code]

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Planning/Navigation

• NeRFlow: Neural Radiance Flow for 4D View Synthesis and Video Processing, ICCV, 2021. [Paper] [Code] [Website]
• NeRF-Navigation: Vision-Only Robot Navigation in a Neural Radiance World, ICRA, 2022. [Paper] [Code] [Website]
• Uncertainty Guided Policy for Active Robotic 3D Reconstruction using Neural Radiance Fields, RAL, 2022. [Paper] [Website]
• NeRF-dy: 3D Neural Scene Representations for Visuomotor Control, CoRL, 2021. [Paper] [Website]
• CompNeRFdyn: Learning Multi-Object Dynamics with Compositional Neural Radiance Fields, CoRL, 2022. [Paper] [Website]
• PIFO: Deep Visual Constraints: Neural Implicit Models for Manipulation Planning from Visual Input, RAL, 2022. [Paper] [Website]
• RedSDF: Regularized Deep Signed Distance Fields for Reactive Motion Generation, IROS, 2022. [Paper] [Website]
• ESDF: Sampling-free obstacle gradients and reactive planning in Neural Radiance Fields, ICRA, 2022. [Paper]
• Full-Body Visual Self-Modeling of Robot Morphologies, Science Robotics, 2022. [Paper] [Code] [Website]
• CLIP-Fields: Weakly Supervised Semantic Fields for Robotic Memory, RSS, 2023. [Paper] [Code and Tutorials] [Website]
• Renderable Neural Radiance Map for Visual Navigation, CVPR, 2023. [Paper] [Website]
• NeRF-VINS: A Real-time Neural Radiance Field Map-based Visual-Inertial Navigation System, ICRA, 2024. [Paper]
• Splat-Nav: Safe Real-Time Robot Navigation in Gaussian Splatting Maps, arXiv, 2024. [Paper]
• GaussNav: Gaussian Splatting for Visual Navigation, arXiv, 2024. [Paper] [Code] [Website]
• Active Implicit Reconstruction Using One-Shot View Planning, ICRA, 2024. [Paper]
• How Many Views Are Needed to Reconstruct an Unknown Object Using NeRF?, ICRA, 2024. [Paper]
• GS-Planner: A Gaussian-Splatting-based Planning Framework for Active High-Fidelity Reconstruction, IROS, 2024. [Paper] [Video]
• NeRF-Enhanced Outpainting for Faithful Field-of-View Extrapolation, ICRA, 2024. [Paper]
• Neural Visibility Field for Uncertainty-Driven Active Mapping, CVPR, 2024. [Paper] [Website] [Code]
• BEINGS: Bayesian Embodied Image-goal Navigation with Gaussian Splatting, arXiv, 2024. [Paper] [Website] [Code]
• HGS-Planner: Hierarchical Planning Framework for Active Scene Reconstruction Using 3D Gaussian Splatting, arXiv, 2024. [Paper]
• RT-GuIDE: Real-Time Gaussian splatting for Information-Driven Exploration, arXiv, 2024. [Paper] [Website]
• Active Neural Mapping at Scale, arXiv, 2024. [Paper]
• ActiveSplat: High-Fidelity Scene Reconstruction through Active Gaussian Splatting, arXiv, 2024. [Paper] [Website]
• Active Implicit Object Reconstruction using Uncertainty-guided Next-Best-View Optimization, RAL, 2023. [Paper] [Code]
• FisherRF: Active View Selection and Mapping with Radiance Fields Using Fisher Information, ECCV, 2024. [Paper] [Code] [Website]

Localization

• Loc-NeRF: Monte Carlo Localization using Neural Radiance Fields, ICRA, 2023. [Paper] [Code]
• LocNDF: Neural Distance Field Mapping for Robot Localization, RAL, 2023. [Paper] [Code]
• Leveraging Neural Radiance Fields for Uncertainty-Aware Visual Localization, ICRA, 2024. [Paper] [Video]
• The NeRFect Match: Exploring NeRF Features for Visual Localization, ECCV, 2024. [Paper] [Website] [Code]
• Leveraging Neural Radiance Fields for Uncertainty-Aware Visual Localization, ICRA, 2024. [Paper]
• NuRF: Nudging the Particle Filter in Radiance Fields for Robot Visual Localization, arXiv, 2024. [Paper]
• Fast Global Localization on Neural Radiance Field, arXiv, 2024. [Paper] [Code]
• Matching Query Image Against Selected NeRF Feature for Efficient and Scalable Localization, arXiv, 2024. [Paper]
• Visual Localization in 3D Maps: Comparing Point Cloud, Mesh, and NeRF Representations, arXiv, 2024. [Paper]
• HGSLoc: 3DGS-based Heuristic Camera Pose Refinement, arXiv, 2024. [Paper]
• GSLoc: Efficient Camera Pose Refinement via 3D Gaussian Splatting, arXiv, 2024. [Paper] [Website]
• MULAN-WC: Multi-Robot Localization Uncertainty-aware Active NeRF with Wireless Coordination, IROS, 2024. [Paper]
• VRS-NeRF: Visual Relocalization with Sparse Neural Radiance Field, arXiv, 2024. [Paper] [Code]
• NeRF-Loc: Visual Localization with Conditional Neural Radiance Field, ICRA, 2023. [Paper] [Code]
• WSCLoc: Weakly-Supervised Sparse-View Camera Relocalization via Radiance Field, arXiv, 2024. [Paper]
• CROSSFIRE: Camera Relocalization On Self-Supervised Features from an Implicit Representation, arXiv, 2024. [Paper]
• GSplatLoc: Grounding Keypoint Descriptors into 3D Gaussian Splatting for Improved Visual Localization, arXiv, 2024. [Paper] [Website] [Code]
• GSLoc: Visual Localization with 3D Gaussian Splatting, arXiv, 2024. [Paper]
• LoGS: Visual Localization via Gaussian Splatting with Fewer Training Images, arXiv, 2024. [Paper] [Code]
• SplatLoc: 3D Gaussian Splatting-based Visual Localization for Augmented Reality, arXiv, 2024. [Paper] [Website] [Code]

Re-localization

• Camera Relocalization in Shadow-Free Neural Radiance Fields, ICRA, 2024. [Paper]
• 3DGS-ReLoc: 3D Gaussian Splatting for Map Representation and Visual ReLocalization, ICCV, 2023. [Paper]

Reconstruction

• Language-Embedded Gaussian Splats (LEGS): Incrementally Building Room-Scale Representations with a Mobile Robot, arXiv, 2024. [Paper] [Website]

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Citation

If you find this repository useful, please consider citing this list:

@misc{dong2022implicitnerfslampaperlist,
    title = {awesome-Implicit-NeRF-SLAM},
    author = {Dong Li},
    howpublished = {\url{https://github.com/DoongLi/awesome-Implicit-NeRF-SLAM}},
    year = {2022},
    note = "[Online; accessed 08-December-2022]"
}

Acknowledgement

We would like to express our appreciation for the repository cited in the paper:

• How NeRFs and 3D Gaussian Splatting are Reshaping SLAM: a Survey, arXiv, 2024. [Paper]