mlsanityData to 7 Oct 2026

NICE-SLAM: Neural Implicit Scalable Encoding for SLAM

arXiv 2112.12130 ↗First posted 22 Dec 2021cs.CVcited by 586

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Abstract (arXiv)

Neural implicit representations have recently shown encouraging results in various domains, including promising progress in simultaneous localization and mapping (SLAM). Nevertheless, existing methods produce over-smoothed scene reconstructions and have difficulty scaling up to large scenes. These limitations are mainly due to their simple fully-connected network architecture that does not incorporate local information in the observations. In this paper, we present NICE-SLAM, a dense SLAM system that incorporates multi-level local information by introducing a hierarchical scene representation. Optimizing this representation with pre-trained geometric priors enables detailed reconstruction on large indoor scenes. Compared to recent neural implicit SLAM systems, our approach is more scalable, efficient, and robust. Experiments on five challenging datasets demonstrate competitive results of NICE-SLAM in both mapping and tracking quality. Project page: https://pengsongyou.github.io/nice-slam

Key facts. Cited by 586 papers in the map (data through 7 Oct 2026). Builds on 53 of its 72 references that are in the map. First posted on arXiv 22 Dec 2021.

Builds on

53 of 72 references.

References · 53

  1. 2017ScanNet: Richly-annotated 3D Reconstructions of Indoor Scenescited by 3,088
  2. 2019DeepSDF: Learning Continuous Signed Distance Functions for Shape Representationcited by 2,682
  3. 2020Fourier Features Let Networks Learn High Frequency Functions in Low Dimensional Domainscited by 2,170
  4. 2018Occupancy Networks: Learning 3D Reconstruction in Function Spacecited by 2,037
  5. 2021NeuS: Learning Neural Implicit Surfaces by Volume Rendering for Multi-view Reconstructioncited by 1,701
  6. 2020NeRF in the Wild: Neural Radiance Fields for Unconstrained Photo Collectionscited by 1,230
  7. 2018Learning Implicit Fields for Generative Shape Modelingcited by 1,060
  8. 2021Volume Rendering of Neural Implicit Surfacescited by 990
  9. 2019The Replica Dataset: A Digital Replica of Indoor Spacescited by 885
  10. 2020NeRF++: Analyzing and Improving Neural Radiance Fieldscited by 857
  11. 2019PIFu: Pixel-Aligned Implicit Function for High-Resolution Clothed Human Digitizationcited by 818
  12. 2016ORB-SLAM2: an Open-Source SLAM System for Monocular, Stereo and RGB-D Camerascited by 801
38 more
  1. 2020GIRAFFE: Representing Scenes as Compositional Generative Neural Feature Fieldscited by 784
  2. 2020Convolutional Occupancy Networkscited by 760
  3. 2018Open3D: A Modern Library for 3D Data Processingcited by 717
  4. 2020pi-GAN: Periodic Implicit Generative Adversarial Networks for 3D-Aware Image Synthesiscited by 708
  5. 2019Differentiable Volumetric Rendering: Learning Implicit 3D Representations without 3D Supervisioncited by 699
  6. 2020GRAF: Generative Radiance Fields for 3D-Aware Image Synthesiscited by 688
  7. 2021DROID-SLAM: Deep Visual SLAM for Monocular, Stereo, and RGB-D Camerascited by 673
  8. 2021KiloNeRF: Speeding up Neural Radiance Fields with Thousands of Tiny MLPscited by 672
  9. 2021UNISURF: Unifying Neural Implicit Surfaces and Radiance Fields for Multi-View Reconstructioncited by 643
  10. 2021BARF: Bundle-Adjusting Neural Radiance Fieldscited by 641
  11. 2016Direct Sparse Odometrycited by 479
  12. 2021iMAP: Implicit Mapping and Positioning in Real-Timecited by 476
  13. 2020INeRF: Inverting Neural Radiance Fields for Pose Estimationcited by 381
  14. 2020Local Implicit Grid Representations for 3D Scenescited by 372
  15. 2019DISN: Deep Implicit Surface Network for High-quality Single-view 3D Reconstructioncited by 332
  16. 2020Deep Local Shapes: Learning Local SDF Priors for Detailed 3D Reconstructioncited by 321
  17. 2021Neural RGB-D Surface Reconstructioncited by 312
  18. 2021NeuralRecon: Real-Time Coherent 3D Reconstruction from Monocular Videocited by 241
  19. 2020D3VO: Deep Depth, Deep Pose and Deep Uncertainty for Monocular Visual Odometrycited by 206
  20. 2020Atlas: End-to-End 3D Scene Reconstruction from Posed Imagescited by 206
  21. 2016DeMoN: Depth and Motion Network for Learning Monocular Stereocited by 200
  22. 2021Shape As Points: A Differentiable Poisson Solvercited by 186
  23. 2018DeepV2D: Video to Depth with Differentiable Structure from Motioncited by 185
  24. 2019DIST: Rendering Deep Implicit Signed Distance Function with Differentiable Sphere Tracingcited by 179
  25. 2018BA-Net: Dense Bundle Adjustment Networkcited by 173
  26. 2018CodeSLAM - Learning a Compact, Optimisable Representation for Dense Visual SLAMcited by 151
  27. 2020DeepFactors: Real-Time Probabilistic Dense Monocular SLAMcited by 117
  28. 2016BundleFusion: Real-time Globally Consistent 3D Reconstruction using On-the-fly Surface Re-integrationcited by 116
  29. 2021TransformerFusion: Monocular RGB Scene Reconstruction using Transformerscited by 107
  30. 2018DeepTAM: Deep Tracking and Mappingcited by 87
  31. 2015The Fast Bilateral Solvercited by 86
  32. 2020DI-Fusion: Online Implicit 3D Reconstruction with Deep Priorscited by 70
  33. 2020NodeSLAM: Neural Object Descriptors for Multi-View Shape Reconstructioncited by 61
  34. 2021CAMPARI: Camera-Aware Decomposed Generative Neural Radiance Fieldscited by 55
  35. 2017Co-Fusion: Real-time Segmentation, Tracking and Fusion of Multiple Objectscited by 47
  36. 2020NeuralFusion: Online Depth Fusion in Latent Spacecited by 46
  37. 2021VolumeFusion: Deep Depth Fusion for 3D Scene Reconstructioncited by 44
  38. 2021Tangent Space Backpropagation for 3D Transformation Groupscited by 40

50 most cited of 53 All 53 (JSON)

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2022: 50; 2023: 144; 2024: 171; 2025: 132; 2026: 89.

586 papers.

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  1. 2023DUSt3R: Geometric 3D Vision Made Easycited by 1,526
  2. 2023Nerfstudio: A Modular Framework for Neural Radiance Field Developmentcited by 596
  3. 2023HexPlane: A Fast Representation for Dynamic Scenescited by 582
  4. 2025Continuous 3D Perception Model with Persistent Statecited by 527
  5. 2022MonoSDF: Exploring Monocular Geometric Cues for Neural Implicit Surface Reconstructioncited by 467
  6. 2023Gaussian Splatting SLAMcited by 410
  7. 2023SplaTAM: Splat, Track & Map 3D Gaussians for Dense RGB-D SLAMcited by 386
  8. 2023ConceptGraphs: Open-Vocabulary 3D Scene Graphs for Perception and Planningcited by 357
  9. 2023VoxFormer: Sparse Voxel Transformer for Camera-based 3D Semantic Scene Completioncited by 306
  10. 2023GS-SLAM: Dense Visual SLAM with 3D Gaussian Splattingcited by 278
  11. 20243D Reconstruction with Spatial Memorycited by 269
  12. 2024No Pose, No Problem: Surprisingly Simple 3D Gaussian Splats from Sparse Unposed Imagescited by 241
38 more
  1. 2022NoPe-NeRF: Optimising Neural Radiance Field with No Pose Priorcited by 235
  2. 2024A Survey on 3D Gaussian Splattingcited by 221
  3. 2024MASt3R-SLAM: Real-Time Dense SLAM with 3D Reconstruction Priorscited by 198
  4. 2022SPARF: Neural Radiance Fields from Sparse and Noisy Posescited by 195
  5. 2022NeRF-SLAM: Real-Time Dense Monocular SLAM with Neural Radiance Fieldscited by 188
  6. 2023Co-SLAM: Joint Coordinate and Sparse Parametric Encodings for Neural Real-Time SLAMcited by 183
  7. 2023NICER-SLAM: Neural Implicit Scene Encoding for RGB SLAMcited by 162
  8. 2023Point-SLAM: Dense Neural Point Cloud-based SLAMcited by 160
  9. 2022ESLAM: Efficient Dense SLAM System Based on Hybrid Representation of Signed Distance Fieldscited by 158
  10. 2022NeRF: Neural Radiance Field in 3D Vision: A Comprehensive Review (Updated Post-Gaussian Splatting)cited by 156
  11. 2023Gaussian-SLAM: Photo-realistic Dense SLAM with Gaussian Splattingcited by 152
  12. 2022Vox-Fusion: Dense Tracking and Mapping with Voxel-based Neural Implicit Representationcited by 149
  13. 2023BundleSDF: Neural 6-DoF Tracking and 3D Reconstruction of Unknown Objectscited by 144
  14. 2023Photo-SLAM: Real-time Simultaneous Localization and Photorealistic Mapping for Monocular, Stereo, and RGB-D Camerascited by 139
  15. 2025MUSt3R: Multi-view Network for Stereo 3D Reconstructioncited by 139
  16. 2023GO-SLAM: Global Optimization for Consistent 3D Instant Reconstructioncited by 132
  17. 2024Recent Advances in 3D Gaussian Splattingcited by 130
  18. 2022iSDF: Real-Time Neural Signed Distance Fields for Robot Perceptioncited by 107
  19. 2023Progressively Optimized Local Radiance Fields for Robust View Synthesiscited by 103
  20. 2023RobustNeRF: Ignoring Distractors with Robust Lossescited by 101
  21. 2024SLAM3R: Real-Time Dense Scene Reconstruction from Monocular RGB Videoscited by 100
  22. 2023SINE: Semantic-driven Image-based NeRF Editing with Prior-guided Editing Fieldcited by 93
  23. 2023Language Embedded Radiance Fields for Zero-Shot Task-Oriented Graspingcited by 91
  24. 2022GARF: Gaussian Activated Radiance Fields for High Fidelity Reconstruction and Pose Estimationcited by 86
  25. 2024SGS-SLAM: Semantic Gaussian Splatting For Neural Dense SLAMcited by 86
  26. 2024FreeSplat: Generalizable 3D Gaussian Splatting Towards Free-View Synthesis of Indoor Scenescited by 86
  27. 2023OVIR-3D: Open-Vocabulary 3D Instance Retrieval Without Training on 3D Datacited by 81
  28. 2022Orbeez-SLAM: A Real-time Monocular Visual SLAM with ORB Features and NeRF-realized Mappingcited by 79
  29. 2024How NeRFs and 3D Gaussian Splatting are Reshaping SLAM: a Surveycited by 72
  30. 2023One-Shot High-Fidelity Talking-Head Synthesis with Deformable Neural Radiance Fieldcited by 68
  31. 2024OpenNeRF: Open Set 3D Neural Scene Segmentation with Pixel-Wise Features and Rendered Novel Viewscited by 68
  32. 2024Deep Patch Visual SLAMcited by 68
  33. 2023vMAP: Vectorised Object Mapping for Neural Field SLAMcited by 67
  34. 2024RGBD GS-ICP SLAMcited by 65
  35. 2024Splat-SLAM: Globally Optimized RGB-only SLAM with 3D Gaussianscited by 64
  36. 2023PLGSLAM: Progressive Neural Scene Represenation with Local to Global Bundle Adjustmentcited by 62
  37. 2024Advances in 3D Generation: A Surveycited by 62
  38. 2022GO-Surf: Neural Feature Grid Optimization for Fast, High-Fidelity RGB-D Surface Reconstructioncited by 61

50 most cited of 586 All 586 (JSON)