mlsanityData to 14 Oct 2026

DeepFactors: Real-Time Probabilistic Dense Monocular SLAM

arXiv 2001.05049 ↗First posted 14 Jan 2020cs.CVcited by 117

Not on the map. Why?

Abstract (arXiv)

The ability to estimate rich geometry and camera motion from monocular imagery is fundamental to future interactive robotics and augmented reality applications. Different approaches have been proposed that vary in scene geometry representation (sparse landmarks, dense maps), the consistency metric used for optimising the multi-view problem, and the use of learned priors. We present a SLAM system that unifies these methods in a probabilistic framework while still maintaining real-time performance. This is achieved through the use of a learned compact depth map representation and reformulating three different types of errors: photometric, reprojection and geometric, which we make use of within standard factor graph software. We evaluate our system on trajectory estimation and depth reconstruction on real-world sequences and present various examples of estimated dense geometry.

Key facts. Cited by 117 papers in the map (data through 14 Oct 2026). First posted on arXiv 14 Jan 2020.

Builds on

No reference list yet.

Built on by

Cited by year (2026 to 14 Oct)

Citing papers per year: 2021: 18; 2022: 13; 2023: 18; 2024: 24; 2025: 23; 2026: 21.

117 papers.

Sort:

By area:

  1. 2023DUSt3R: Geometric 3D Vision Made Easycited by 1,567
  2. 2021DROID-SLAM: Deep Visual SLAM for Monocular, Stereo, and RGB-D Camerascited by 687
  3. 2021NICE-SLAM: Neural Implicit Scalable Encoding for SLAMcited by 589
  4. 2023Gaussian Splatting SLAMcited by 415
  5. 2021Neural RGB-D Surface Reconstructioncited by 313
  6. 2024MegaSaM: Accurate, Fast, and Robust Structure and Motion from Casual Dynamic Videoscited by 228
  7. 2024MASt3R-SLAM: Real-Time Dense SLAM with 3D Reconstruction Priorscited by 205
  8. 2022Deep Patch Visual Odometrycited by 190
  9. 2023NICER-SLAM: Neural Implicit Scene Encoding for RGB SLAMcited by 164
  10. 2022ESLAM: Efficient Dense SLAM System Based on Hybrid Representation of Signed Distance Fieldscited by 158
  11. 2022Vox-Fusion: Dense Tracking and Mapping with Voxel-based Neural Implicit Representationcited by 149
  12. 2025MUSt3R: Multi-view Network for Stereo 3D Reconstructioncited by 141
38 more
  1. 2025VGGT-SLAM: Dense RGB SLAM Optimized on the SL(4) Manifoldcited by 136
  2. 2023GO-SLAM: Global Optimization for Consistent 3D Instant Reconstructioncited by 133
  3. 2024SLAM3R: Real-Time Dense Scene Reconstruction from Monocular RGB Videoscited by 102
  4. 2021Endo-Depth-and-Motion: Reconstruction and Tracking in Endoscopic Videos using Depth Networks and Photometric Constraintscited by 81
  5. 2024Deep Patch Visual SLAMcited by 71
  6. 2022Theseus: A Library for Differentiable Nonlinear Optimizationcited by 65
  7. 2024RGBD GS-ICP SLAMcited by 65
  8. 2024FlowMap: High-Quality Camera Poses, Intrinsics, and Depth via Gradient Descentcited by 61
  9. 2021Tangent Space Backpropagation for 3D Transformation Groupscited by 40
  10. 2021TANDEM: Tracking and Dense Mapping in Real-time using Deep Multi-view Stereocited by 39
  11. 2023R3D3: Dense 3D Reconstruction of Dynamic Scenes from Multiple Camerascited by 39
  12. 2022Deep Learning for Omnidirectional Vision: A Survey and New Perspectivescited by 38
  13. 2025On-the-fly Reconstruction for Large-Scale Novel View Synthesis from Unposed Imagescited by 36
  14. 2021Continual Neural Mapping: Learning An Implicit Scene Representation from Sequential Observationscited by 30
  15. 2023Multi-Modal Neural Radiance Field for Monocular Dense SLAM with a Light-Weight ToF Sensorcited by 30
  16. 2021ILabel: Interactive Neural Scene Labellingcited by 28
  17. 2022SAGE: SLAM with Appearance and Geometry Prior for Endoscopycited by 28
  18. 2026VGGT-SLAM 2.0: Real-time Dense Feed-forward Scene Reconstructioncited by 28
  19. 2024DDN-SLAM: Real-time Dense Dynamic Neural Implicit SLAMcited by 23
  20. 2022iDF-SLAM: End-to-End RGB-D SLAM with Neural Implicit Mapping and Deep Feature Trackingcited by 22
  21. 2025SAIL-Recon: Large SfM by Augmenting Scene Regression with Localizationcited by 20
  22. 2025AMB3R: Accurate Feed-forward Metric-scale 3D Reconstruction with Backendcited by 20
  23. 2025Relative Pose Estimation through Affine Corrections of Monocular Depth Priorscited by 18
  24. 2021Advances in Inference and Representation for Simultaneous Localization and Mappingcited by 16
  25. 2021Boosting Light-Weight Depth Estimation Via Knowledge Distillationcited by 16
  26. 2021CodeMapping: Real-Time Dense Mapping for Sparse SLAM using Compact Scene Representationscited by 16
  27. 2023Learning a Depth Covariance Functioncited by 16
  28. 2024Imperative Learning: A Self-supervised Neuro-Symbolic Learning Framework for Robot Autonomycited by 16
  29. 2023iSLAM: Imperative SLAMcited by 15
  30. 2023A Survey on Approximate Edge AI for Energy Efficient Autonomous Driving Servicescited by 14
  31. 2023Deep Learning for Visual Localization and Mapping: A Surveycited by 14
  32. 2025Benchmarking Egocentric Visual-Inertial SLAM at City Scalecited by 14
  33. 2021A visual introduction to Gaussian Belief Propagationcited by 13
  34. 2021Graph-based Thermal-Inertial SLAM with Probabilistic Neural Networkscited by 12
  35. 2024FAR: Flexible, Accurate and Robust 6DoF Relative Camera Pose Estimationcited by 12
  36. 2024SLCF-Net: Sequential LiDAR-Camera Fusion for Semantic Scene Completion using a 3D Recurrent U-Netcited by 12
  37. 2023SuperPrimitive: Scene Reconstruction at a Primitive Levelcited by 11
  38. 2024Q-SLAM: Quadric Representations for Monocular SLAMcited by 11

50 most cited of 117 All 117 (JSON)