mlsanityData to 7 Oct 2026

DROID-SLAM: Deep Visual SLAM for Monocular, Stereo, and RGB-D Cameras

arXiv 2108.10869 ↗First posted 24 Aug 2021cs.CVcited by 673

Not on the map. Why?

Abstract (arXiv)

We introduce DROID-SLAM, a new deep learning based SLAM system. DROID-SLAM consists of recurrent iterative updates of camera pose and pixelwise depth through a Dense Bundle Adjustment layer. DROID-SLAM is accurate, achieving large improvements over prior work, and robust, suffering from substantially fewer catastrophic failures. Despite training on monocular video, it can leverage stereo or RGB-D video to achieve improved performance at test time. The URL to our open source code is https://github.com/princeton-vl/DROID-SLAM.

Key facts. Cited by 673 papers in the map (data through 7 Oct 2026). Builds on 41 of its 65 references that are in the map. First posted on arXiv 24 Aug 2021.

Builds on

41 of 65 references.

References · 41

  1. 2017ScanNet: Richly-annotated 3D Reconstructions of Indoor Scenescited by 3,088
  2. 2020RAFT: Recurrent All-Pairs Field Transforms for Optical Flowcited by 2,385
  3. 2019SuperGlue: Learning Feature Matching with Graph Neural Networkscited by 1,437
  4. 2017SuperPoint: Self-Supervised Interest Point Detection and Descriptioncited by 1,313
  5. 2015ORB-SLAM: a Versatile and Accurate Monocular SLAM Systemcited by 983
  6. 2020ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAMcited by 862
  7. 2016ORB-SLAM2: an Open-Source SLAM System for Monocular, Stereo and RGB-D Camerascited by 801
  8. 2020TartanAir: A Dataset to Push the Limits of Visual SLAMcited by 494
  9. 2016Direct Sparse Odometrycited by 479
  10. 2021iMAP: Implicit Mapping and Positioning in Real-Timecited by 476
  11. 2016Past, Present, and Future of Simultaneous Localization And Mapping: Towards the Robust-Perception Agecited by 405
  12. 2020Consistent Video Depth Estimationcited by 220
29 more
  1. 2017Working hard to know your neighbor's margins: Local descriptor learning losscited by 212
  2. 2020D3VO: Deep Depth, Deep Pose and Deep Uncertainty for Monocular Visual Odometrycited by 206
  3. 2016DeMoN: Depth and Motion Network for Learning Monocular Stereocited by 200
  4. 2021Back to the Feature: Learning Robust Camera Localization from Pixels to Posecited by 199
  5. 2020Robust Consistent Video Depth Estimationcited by 188
  6. 2018DeepV2D: Video to Depth with Differentiable Structure from Motioncited by 185
  7. 2019Kimera: an Open-Source Library for Real-Time Metric-Semantic Localization and Mappingcited by 181
  8. 2017DeepVO: Towards End-to-End Visual Odometry with Deep Recurrent Convolutional Neural Networkscited by 173
  9. 2018BA-Net: Dense Bundle Adjustment Networkcited by 173
  10. 2018CodeSLAM - Learning a Compact, Optimisable Representation for Dense Visual SLAMcited by 151
  11. 2018LF-Net: Learning Local Features from Imagescited by 151
  12. 2020DeepFactors: Real-Time Probabilistic Dense Monocular SLAMcited by 117
  13. 2020TartanVO: A Generalizable Learning-based VOcited by 107
  14. 2018DeepTAM: Deep Tracking and Mappingcited by 87
  15. 2018Deep Virtual Stereo Odometry: Leveraging Deep Depth Prediction for Monocular Direct Sparse Odometrycited by 85
  16. 2016Universal Correspondence Networkcited by 82
  17. 2019Neural RGB->D Sensing: Depth and Uncertainty from a Video Cameracited by 69
  18. 2020NodeSLAM: Neural Object Descriptors for Multi-View Shape Reconstructioncited by 61
  19. 2018GeoDesc: Learning Local Descriptors by Integrating Geometry Constraintscited by 52
  20. 2021Tangent Space Backpropagation for 3D Transformation Groupscited by 40
  21. 2018LS-Net: Learning to Solve Nonlinear Least Squares for Monocular Stereocited by 28
  22. 2020LM-Reloc: Levenberg-Marquardt Based Direct Visual Relocalizationcited by 28
  23. 2019gradSLAM: Automagically differentiable SLAMcited by 27
  24. 2018Online Temporal Calibration for Monocular Visual-Inertial Systemscited by 26
  25. 2019Direct Sparse Mappingcited by 25
  26. 2020Multi-View Optimization of Local Feature Geometrycited by 24
  27. 2018Omnidirectional DSO: Direct Sparse Odometry with Fisheye Camerascited by 17
  28. 2021VOLDOR: Visual Odometry from Log-logistic Dense Optical flow Residualscited by 17
  29. 2018Direct Sparse Odometry with Rolling Shuttercited by 12

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 3; 2022: 37; 2023: 84; 2024: 159; 2025: 189; 2026: 201.

673 papers.

Sort:

By area:

  1. 2023DUSt3R: Geometric 3D Vision Made Easycited by 1,526
  2. 2025VGGT: Visual Geometry Grounded Transformercited by 1,475
  3. 2021NICE-SLAM: Neural Implicit Scalable Encoding for SLAMcited by 586
  4. 2025Continuous 3D Perception Model with Persistent Statecited by 527
  5. 2023CoTracker: It is Better to Track Togethercited by 516
  6. 2023Ego-Exo4D: Understanding Skilled Human Activity from First- and Third-Person Perspectivescited by 477
  7. 2024MonST3R: A Simple Approach for Estimating Geometry in the Presence of Motioncited by 431
  8. 2023FoundationPose: Unified 6D Pose Estimation and Tracking of Novel Objectscited by 411
  9. 2023Gaussian Splatting SLAMcited by 410
  10. 2024Metric3Dv2: A Versatile Monocular Geometric Foundation Model for Zero-shot Metric Depth and Surface Normal Estimationcited by 389
  11. 2023SplaTAM: Splat, Track & Map 3D Gaussians for Dense RGB-D SLAMcited by 386
  12. 2023Metric3D: Towards Zero-shot Metric 3D Prediction from A Single Imagecited by 357
38 more
  1. 2025Fast3R: Towards 3D Reconstruction of 1000+ Images in One Forward Passcited by 356
  2. 2025GEN3C: 3D-Informed World-Consistent Video Generation with Precise Camera Controlcited by 325
  3. 2023GS-SLAM: Dense Visual SLAM with 3D Gaussian Splattingcited by 278
  4. 2025MoGe-2: Accurate Monocular Geometry with Metric Scale and Sharp Detailscited by 250
  5. 2024Shape of Motion: 4D Reconstruction from a Single Videocited by 247
  6. 2023Visual Geometry Grounded Deep Structure From Motioncited by 225
  7. 2024MegaSaM: Accurate, Fast, and Robust Structure and Motion from Casual Dynamic Videoscited by 224
  8. 2023WHAM: Reconstructing World-grounded Humans with Accurate 3D Motioncited by 200
  9. 2024MASt3R-SLAM: Real-Time Dense SLAM with 3D Reconstruction Priorscited by 198
  10. 2021BANMo: Building Animatable 3D Neural Models from Many Casual Videoscited by 195
  11. 2023Robust Dynamic Radiance Fieldscited by 193
  12. 2022NeRF-SLAM: Real-Time Dense Monocular SLAM with Neural Radiance Fieldscited by 188
  13. 2022Deep Patch Visual Odometrycited by 186
  14. 2023Co-SLAM: Joint Coordinate and Sparse Parametric Encodings for Neural Real-Time SLAMcited by 183
  15. 2024MoSca: Dynamic Gaussian Fusion from Casual Videos via 4D Motion Scaffoldscited by 177
  16. 2023NICER-SLAM: Neural Implicit Scene Encoding for RGB SLAMcited by 162
  17. 2025ViPE: Video Pose Engine for 3D Geometric Perceptioncited by 162
  18. 2024MASt3R-SfM: a Fully-Integrated Solution for Unconstrained Structure-from-Motioncited by 161
  19. 2022ESLAM: Efficient Dense SLAM System Based on Hybrid Representation of Signed Distance Fieldscited by 158
  20. 2023Gaussian-SLAM: Photo-realistic Dense SLAM with Gaussian Splattingcited by 152
  21. 2022Vox-Fusion: Dense Tracking and Mapping with Voxel-based Neural Implicit Representationcited by 149
  22. 2023BundleSDF: Neural 6-DoF Tracking and 3D Reconstruction of Unknown Objectscited by 144
  23. 2025WorldScore: A Unified Evaluation Benchmark for World Generationcited by 143
  24. 2023Infinite Photorealistic Worlds using Procedural Generationcited by 142
  25. 2022PersFormer: 3D Lane Detection via Perspective Transformer and the OpenLane Benchmarkcited by 140
  26. 2023Decoupling Human and Camera Motion from Videos in the Wildcited by 140
  27. 2023Photo-SLAM: Real-time Simultaneous Localization and Photorealistic Mapping for Monocular, Stereo, and RGB-D Camerascited by 139
  28. 2025MUSt3R: Multi-view Network for Stereo 3D Reconstructioncited by 139
  29. 2023GO-SLAM: Global Optimization for Consistent 3D Instant Reconstructioncited by 132
  30. 2025VGGT-SLAM: Dense RGB SLAM Optimized on the SL(4) Manifoldcited by 130
  31. 2024Infinigen Indoors: Photorealistic Indoor Scenes using Procedural Generationcited by 129
  32. 2024World-Grounded Human Motion Recovery via Gravity-View Coordinatescited by 127
  33. 2025TTT3R: 3D Reconstruction as Test-Time Trainingcited by 122
  34. 2024RGBD Objects in the Wild: Scaling Real-World 3D Object Learning from RGB-D Videoscited by 113
  35. 2022K-Radar: 4D Radar Object Detection for Autonomous Driving in Various Weather Conditionscited by 107
  36. 2025VGGT-Long: Chunk it, Loop it, Align it -- Pushing VGGT's Limits on Kilometer-scale Long RGB Sequencescited by 107
  37. 2024TRAM: Global Trajectory and Motion of 3D Humans from in-the-wild Videoscited by 105
  38. 2023Progressively Optimized Local Radiance Fields for Robust View Synthesiscited by 103

50 most cited of 673 All 673 (JSON)