mlsanityData to 14 Oct 2026

FutureMapping: The Computational Structure of Spatial AI Systems

arXiv 1803.11288 ↗First posted 29 Mar 2018cs.AI cs.CV cs.ROcited by 36

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Abstract (arXiv)

We discuss and predict the evolution of Simultaneous Localisation and Mapping (SLAM) into a general geometric and semantic `Spatial AI' perception capability for intelligent embodied devices. A big gap remains between the visual perception performance that devices such as augmented reality eyewear or comsumer robots will require and what is possible within the constraints imposed by real products. Co-design of algorithms, processors and sensors will be needed. We explore the computational structure of current and future Spatial AI algorithms and consider this within the landscape of ongoing hardware developments.

Key facts. Cited by 36 papers in the map (data through 14 Oct 2026). First posted on arXiv 29 Mar 2018.

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2021: 11; 2022: 4; 2023: 9; 2024: 3; 2025: 6; 2026: 3.

36 papers.

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  1. 2021Kimera: from SLAM to Spatial Perception with 3D Dynamic Scene Graphscited by 144
  2. 2022Event-aided Direct Sparse Odometrycited by 92
  3. 2021Where is your place, Visual Place Recognition?cited by 82
  4. 2021Semantics for Robotic Mapping, Perception and Interaction: A Surveycited by 56
  5. 2021Kimera-Multi: Robust, Distributed, Dense Metric-Semantic SLAM for Multi-Robot Systemscited by 54
  6. 2023Active Neural Mappingcited by 31
  7. 2023Neural feels with neural fields: Visuo-tactile perception for in-hand manipulationcited by 28
  8. 2022Trust, but Verify: Cross-Modality Fusion for HD Map Change Detectioncited by 25
  9. 2024UnrealZoo: Enriching Photo-realistic Virtual Worlds for Embodied AIcited by 25
  10. 2021Deep Multi-Task Learning for Joint Localization, Perception, and Predictioncited by 22
  11. 2022Multi-Event-Camera Depth Estimation and Outlier Rejection by Refocused Events Fusioncited by 21
  12. 2021Advances in Inference and Representation for Simultaneous Localization and Mappingcited by 16
24 more
  1. 2023An Object SLAM Framework for Association, Mapping, and High-Level Taskscited by 15
  2. 2023Language-EXtended Indoor SLAM (LEXIS): A Versatile System for Real-time Visual Scene Understandingcited by 15
  3. 2021A visual introduction to Gaussian Belief Propagationcited by 13
  4. 2024The Bare Necessities: Designing Simple, Effective Open-Vocabulary Scene Graphscited by 11
  5. 2025Ov3R: Open-Vocabulary Semantic 3D Reconstruction from RGB Videoscited by 10
  6. 2021360-DFPE: Leveraging Monocular 360-Layouts for Direct Floor Plan Estimationcited by 8
  7. 2023TextSLAM: Visual SLAM with Semantic Planar Text Featurescited by 8
  8. 2025SIRI-Bench: Challenging VLMs' Spatial Intelligence through Complex Reasoning Taskscited by 7
  9. 2025CausNVS: Autoregressive Multi-view Diffusion for Flexible 3D Novel View Synthesiscited by 6
  10. 2021Localization and Mapping using Instance-specific Mesh Modelscited by 4
  11. 2025OpenMonoGS-SLAM: Monocular Gaussian Splatting SLAM with Open-set Semanticscited by 4
  12. 2022Accurate Instance-Level CAD Model Retrieval in a Large-Scale Databasecited by 3
  13. 2021Online Learning of a Probabilistic and Adaptive Scene Representationcited by 1
  14. 2023A pipeline for multiple orange detection and tracking with 3-D fruit relocalization and neural-net based yield regression in commercial citrus orchardscited by 1
  15. 2024Look Ma, No Ground Truth! Ground-Truth-Free Tuning of Structure from Motion and Visual SLAMcited by 1
  16. 2025OpenLex3D: A Tiered Evaluation Benchmark for Open-Vocabulary 3D Scene Representationscited by 1
  17. 2025AgriGS-SLAM: Orchard Mapping Across Seasons via Multi-View Gaussian Splatting SLAMcited by 1
  18. 2026Training-free Spatially Grounded Geometric Shape Encoding (Technical Report)cited by 1
  19. 2026Visual General Intelligence: A White Papercited by 1
  20. 2021SeqNetVLAD vs PointNetVLAD: Image Sequence vs 3D Point Clouds for Day-Night Place Recognitioncited by 0
  21. 2023Compositional Semantics for Open Vocabulary Spatio-semantic Representationscited by 0
  22. 2023Algebraic Dynamical Systems in Machine Learningcited by 0
  23. 2023On learning spatial sequences with the movement of attentioncited by 0
  24. 2026Hierarchy-GBP: Accelerating Factor Graph Inference via Abstraction and Recoverycited by 0