mlsanityData to 14 Oct 2026

NodeSLAM: Neural Object Descriptors for Multi-View Shape Reconstruction

arXiv 2004.04485 ↗First posted 9 Apr 2020cs.CVcited by 61

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Abstract (arXiv)

The choice of scene representation is crucial in both the shape inference algorithms it requires and the smart applications it enables. We present efficient and optimisable multi-class learned object descriptors together with a novel probabilistic and differential rendering engine, for principled full object shape inference from one or more RGB-D images. Our framework allows for accurate and robust 3D object reconstruction which enables multiple applications including robot grasping and placing, augmented reality, and the first object-level SLAM system capable of optimising object poses and shapes jointly with camera trajectory.

Key facts. Cited by 61 papers in the map (data through 14 Oct 2026). First posted on arXiv 9 Apr 2020.

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2021: 11; 2022: 15; 2023: 19; 2024: 9; 2025: 5; 2026: 2.

61 papers.

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  1. 2021DROID-SLAM: Deep Visual SLAM for Monocular, Stereo, and RGB-D Camerascited by 687
  2. 2021NICE-SLAM: Neural Implicit Scalable Encoding for SLAMcited by 589
  3. 2021iMAP: Implicit Mapping and Positioning in Real-Timecited by 476
  4. 2023GS-SLAM: Dense Visual SLAM with 3D Gaussian Splattingcited by 278
  5. 2023NICER-SLAM: Neural Implicit Scene Encoding for RGB SLAMcited by 164
  6. 2022ESLAM: Efficient Dense SLAM System Based on Hybrid Representation of Signed Distance Fieldscited by 158
  7. 2024SGS-SLAM: Semantic Gaussian Splatting For Neural Dense SLAMcited by 87
  8. 2023vMAP: Vectorised Object Mapping for Neural Field SLAMcited by 67
  9. 2022Theseus: A Library for Differentiable Nonlinear Optimizationcited by 65
  10. 2023Dense RGB SLAM with Neural Implicit Mapscited by 42
  11. 2021SAIL-VOS 3D: A Synthetic Dataset and Baselines for Object Detection and 3D Mesh Reconstruction from Video Datacited by 38
  12. 2021DSP-SLAM: Object Oriented SLAM with Deep Shape Priorscited by 30
38 more
  1. 2021ILabel: Interactive Neural Scene Labellingcited by 28
  2. 2023DNS SLAM: Dense Neural Semantic-Informed SLAMcited by 23
  3. 2022Generative Category-Level Shape and Pose Estimation with Semantic Primitivescited by 19
  4. 2024MoD-SLAM: Monocular Dense Mapping for Unbounded 3D Scene Reconstructioncited by 18
  5. 2021Advances in Inference and Representation for Simultaneous Localization and Mappingcited by 16
  6. 2022ObjectMatch: Robust Registration using Canonical Object Correspondencescited by 15
  7. 2023An Object SLAM Framework for Association, Mapping, and High-Level Taskscited by 15
  8. 2023SuperPrimitive: Scene Reconstruction at a Primitive Levelcited by 11
  9. 2025SEGS-SLAM: Structure-enhanced 3D Gaussian Splatting SLAM with Appearance Embeddingcited by 11
  10. 2021ELLIPSDF: Joint Object Pose and Shape Optimization with a Bi-level Ellipsoid and Signed Distance Function Descriptioncited by 10
  11. 2023NeuSE: Neural SE(3)-Equivariant Embedding for Long-Term Object-Based Simultaneous Localization and Mappingcited by 10
  12. 2023Get a Grip: Reconstructing Hand-Object Stable Grasps in Egocentric Videoscited by 10
  13. 2023Multi-view 3D Object Reconstruction and Uncertainty Modelling with Neural Shape Priorcited by 9
  14. 2022HRBF-Fusion: Accurate 3D reconstruction from RGB-D data using on-the-fly implicitscited by 8
  15. 2022Break and Make: Interactive Structural Understanding Using LEGO Brickscited by 8
  16. 2022Learning to Complete Object Shapes for Object-level Mapping in Dynamic Scenescited by 8
  17. 2023You Only Look at One: Category-Level Object Representations for Pose Estimation From a Single Examplecited by 8
  18. 2023Uncertainty-aware 3D Object-Level Mapping with Deep Shape Priorscited by 8
  19. 2021Object-Augmented RGB-D SLAM for Wide-Disparity Relocalisationcited by 7
  20. 2022SDFEst: Categorical Pose and Shape Estimation of Objects from RGB-D using Signed Distance Fieldscited by 7
  21. 2022Robust Change Detection Based on Neural Descriptor Fieldscited by 7
  22. 2022Semantic Visual Simultaneous Localization and Mapping: A Surveycited by 7
  23. 2022Simultaneous Localisation and Mapping with Quadric Surfacescited by 5
  24. 2024Toward General Object-level Mapping from Sparse Views with 3D Diffusion Priorscited by 5
  25. 2021SIMstack: A Generative Shape and Instance Model for Unordered Object Stackscited by 4
  26. 2021Incremental Abstraction in Distributed Probabilistic SLAM Graphscited by 3
  27. 2022Closing the Loop: Graph Networks to Unify Semantic Objects and Visual Features for Multi-object Scenescited by 3
  28. 2025Reconstructing Objects along Hand Interaction Timelines in Egocentric Videocited by 3
  29. 2023RGB-D-Based Categorical Object Pose and Shape Estimation: Methods, Datasets, and Evaluationcited by 2
  30. 2023Object-Centric Scene Representations using Active Inferencecited by 2
  31. 2023TransPoser: Transformer as an Optimizer for Joint Object Shape and Pose Estimationcited by 2
  32. 2023Grasp Transfer based on Self-Aligning Implicit Representations of Local Surfacescited by 2
  33. 2024NeB-SLAM: Neural Blocks-based Salable RGB-D SLAM for Unknown Scenescited by 2
  34. 2022Robot Active Neural Sensing and Planning in Unknown Cluttered Environmentscited by 1
  35. 2022TwistSLAM++: Fusing multiple modalities for accurate dynamic semantic SLAMcited by 1
  36. 2023Object-based SLAM utilizing unambiguous pose parameters considering general symmetry typescited by 1
  37. 2023Partial-View Object View Synthesis via Filtered Inversioncited by 1
  38. 2023UniQuadric: A SLAM Backend for Unknown Rigid Object 3D Tracking and Light-Weight Modelingcited by 1

50 most cited of 61 All 61 (JSON)