mlsanityData to 7 Oct 2026

iDF-SLAM: End-to-End RGB-D SLAM with Neural Implicit Mapping and Deep Feature Tracking

arXiv 2209.07919 ↗First posted 16 Sep 2022cs.RO cs.CVcited by 22

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Abstract (arXiv)

We propose a novel end-to-end RGB-D SLAM, iDF-SLAM, which adopts a feature-based deep neural tracker as the front-end and a NeRF-style neural implicit mapper as the back-end. The neural implicit mapper is trained on-the-fly, while though the neural tracker is pretrained on the ScanNet dataset, it is also finetuned along with the training of the neural implicit mapper. Under such a design, our iDF-SLAM is capable of learning to use scene-specific features for camera tracking, thus enabling lifelong learning of the SLAM system. Both the training for the tracker and the mapper are self-supervised without introducing ground truth poses. We test the performance of our iDF-SLAM on the Replica and ScanNet datasets and compare the results to the two recent NeRF-based neural SLAM systems. The proposed iDF-SLAM demonstrates state-of-the-art results in terms of scene reconstruction and competitive performance in camera tracking.

Key facts. Cited by 22 papers in the map (data through 7 Oct 2026). Builds on 27 of its 35 references that are in the map. First posted on arXiv 16 Sep 2022.

Builds on

27 of 35 references.

References · 27

  1. 2015Deep Residual Learning for Image Recognitioncited by 51,809
  2. 2014Adam: A Method for Stochastic Optimizationcited by 36,960
  3. 2017ScanNet: Richly-annotated 3D Reconstructions of Indoor Scenescited by 3,088
  4. 2021NeuS: Learning Neural Implicit Surfaces by Volume Rendering for Multi-view Reconstructioncited by 1,701
  5. 2015ORB-SLAM: a Versatile and Accurate Monocular SLAM Systemcited by 983
  6. 2020Neural Sparse Voxel Fieldscited by 959
  7. 2019The Replica Dataset: A Digital Replica of Indoor Spacescited by 885
  8. 2021UNISURF: Unifying Neural Implicit Surfaces and Radiance Fields for Multi-View Reconstructioncited by 643
  9. 2021BARF: Bundle-Adjusting Neural Radiance Fieldscited by 641
  10. 2021NICE-SLAM: Neural Implicit Scalable Encoding for SLAMcited by 586
  11. 2021iMAP: Implicit Mapping and Positioning in Real-Timecited by 476
  12. 2020INeRF: Inverting Neural Radiance Fields for Pose Estimationcited by 381
15 more
  1. 2021Neural RGB-D Surface Reconstructioncited by 312
  2. 2020Deep Global Registrationcited by 228
  3. 2018CodeSLAM - Learning a Compact, Optimisable Representation for Dense Visual SLAMcited by 151
  4. 2016SemanticFusion: Dense 3D Semantic Mapping with Convolutional Neural Networkscited by 134
  5. 2020DeepFactors: Real-Time Probabilistic Dense Monocular SLAMcited by 117
  6. 2021UnsupervisedR&R: Unsupervised Point Cloud Registration via Differentiable Renderingcited by 44
  7. 2019SceneCode: Monocular Dense Semantic Reconstruction using Learned Encoded Scene Representationscited by 37
  8. 2016Meaningful Maps With Object-Oriented Semantic Mappingcited by 31
  9. 2022PVO: Panoptic Visual Odometrycited by 26
  10. 2022FD-SLAM: 3-D Reconstruction Using Features and Dense Matchingcited by 17
  11. 2021CodeMapping: Real-Time Dense Mapping for Sparse SLAM using Compact Scene Representationscited by 16
  12. 2021NeuralBlox: Real-Time Neural Representation Fusion for Robust Volumetric Mappingcited by 14
  13. 2022CGiS-Net: Aggregating Colour, Geometry and Implicit Semantic Features for Indoor Place Recognitioncited by 9
  14. 2022D3FlowSLAM: Self-Supervised Dynamic SLAM with Flow Motion Decomposition and DINO Guidancecited by 9
  15. 2021Object-Augmented RGB-D SLAM for Wide-Disparity Relocalisationcited by 7

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Citing papers per year: 2022: 2; 2023: 4; 2024: 12; 2025: 4.

22 papers.

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  1. 2023SplaTAM: Splat, Track & Map 3D Gaussians for Dense RGB-D SLAMcited by 386
  2. 2024PGSR: Planar-based Gaussian Splatting for Efficient and High-Fidelity Surface Reconstructioncited by 280
  3. 2023NICER-SLAM: Neural Implicit Scene Encoding for RGB SLAMcited by 162
  4. 2022ESLAM: Efficient Dense SLAM System Based on Hybrid Representation of Signed Distance Fieldscited by 158
  5. 2024How NeRFs and 3D Gaussian Splatting are Reshaping SLAM: a Surveycited by 72
  6. 2022IntrinsicNeRF: Learning Intrinsic Neural Radiance Fields for Editable Novel View Synthesiscited by 50
  7. 2024DiffPano: Scalable and Consistent Text to Panorama Generation with Spherical Epipolar-Aware Diffusioncited by 38
  8. 2024PhysFlow: Unleashing the Potential of Multi-modal Foundation Models and Video Diffusion for 4D Dynamic Physical Scene Simulationcited by 36
  9. 2025CityGS-X: A Scalable Architecture for Efficient and Geometrically Accurate Large-Scale Scene Reconstructioncited by 26
  10. 2023MIPS-Fusion: Multi-Implicit-Submaps for Scalable and Robust Online Neural RGB-D Reconstructioncited by 24
  11. 2024DDN-SLAM: Real-time Dense Dynamic Neural Implicit SLAMcited by 22
  12. 2024GigaGS: Scaling up Planar-Based 3D Gaussians for Large Scene Surface Reconstructioncited by 20
10 more
  1. 2024StreetSurfGS: Scalable Urban Street Surface Reconstruction with Planar-based Gaussian Splattingcited by 19
  2. 2024NeRFs in Robotics: A Surveycited by 16
  3. 2024NeuRodin: A Two-stage Framework for High-Fidelity Neural Surface Reconstructioncited by 16
  4. 2025TSGS: Improving Gaussian Splatting for Transparent Surface Reconstruction via Normal and De-lighting Priorscited by 14
  5. 2024ND-SDF: Learning Normal Deflection Fields for High-Fidelity Indoor Reconstructioncited by 11
  6. 2023FMapping: Factorized Efficient Neural Field Mapping for Real-Time Dense RGB SLAMcited by 6
  7. 2024Learn to Memorize and to Forget: A Continual Learning Perspective of Dynamic SLAMcited by 4
  8. 2025CAD-SLAM: Consistency-Aware Dynamic SLAM with Dynamic-Static Decoupled Mappingcited by 1
  9. 2024HVOFusion: Incremental Mesh Reconstruction Using Hybrid Voxel Octreecited by 0
  10. 2025Deep Learning-Powered Visual SLAM Aimed at Assisting Visually Impaired Navigationcited by 0