mlsanityData to 7 Oct 2026

Orbeez-SLAM: A Real-time Monocular Visual SLAM with ORB Features and NeRF-realized Mapping

arXiv 2209.13274 ↗First posted 27 Sep 2022cs.RO cs.CVcited by 79

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Abstract (arXiv)

A spatial AI that can perform complex tasks through visual signals and cooperate with humans is highly anticipated. To achieve this, we need a visual SLAM that easily adapts to new scenes without pre-training and generates dense maps for downstream tasks in real-time. None of the previous learning-based and non-learning-based visual SLAMs satisfy all needs due to the intrinsic limitations of their components. In this work, we develop a visual SLAM named Orbeez-SLAM, which successfully collaborates with implicit neural representation and visual odometry to achieve our goals. Moreover, Orbeez-SLAM can work with the monocular camera since it only needs RGB inputs, making it widely applicable to the real world. Results show that our SLAM is up to 800x faster than the strong baseline with superior rendering outcomes. Code link: https://github.com/MarvinChung/Orbeez-SLAM.

Key facts. Cited by 79 papers in the map (data through 7 Oct 2026). Builds on 22 of its 36 references that are in the map. First posted on arXiv 27 Sep 2022.

Builds on

22 of 36 references.

References · 22

  1. 2022Instant Neural Graphics Primitives with a Multiresolution Hash Encodingcited by 3,698
  2. 2017ScanNet: Richly-annotated 3D Reconstructions of Indoor Scenescited by 3,088
  3. 2019DeepSDF: Learning Continuous Signed Distance Functions for Shape Representationcited by 2,682
  4. 2021Mip-NeRF 360: Unbounded Anti-Aliased Neural Radiance Fieldscited by 2,013
  5. 2021Mip-NeRF: A Multiscale Representation for Anti-Aliasing Neural Radiance Fieldscited by 1,957
  6. 2021Plenoxels: Radiance Fields without Neural Networkscited by 1,607
  7. 2020NeRF in the Wild: Neural Radiance Fields for Unconstrained Photo Collectionscited by 1,230
  8. 2015ORB-SLAM: a Versatile and Accurate Monocular SLAM Systemcited by 983
  9. 2021Direct Voxel Grid Optimization: Super-fast Convergence for Radiance Fields Reconstructioncited by 961
  10. 2020Neural Sparse Voxel Fieldscited by 959
  11. 2019The Replica Dataset: A Digital Replica of Indoor Spacescited by 885
  12. 2020ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAMcited by 862
10 more
  1. 2016ORB-SLAM2: an Open-Source SLAM System for Monocular, Stereo and RGB-D Camerascited by 801
  2. 2021BARF: Bundle-Adjusting Neural Radiance Fieldscited by 641
  3. 2021NICE-SLAM: Neural Implicit Scalable Encoding for SLAMcited by 586
  4. 2021iMAP: Implicit Mapping and Positioning in Real-Timecited by 476
  5. 2021Neural Geometric Level of Detail: Real-time Rendering with Implicit 3D Shapescited by 426
  6. 2021Self-Calibrating Neural Radiance Fieldscited by 204
  7. 2021NeRF--: Neural Radiance Fields Without Known Camera Parameterscited by 155
  8. 2020DI-Fusion: Online Implicit 3D Reconstruction with Deep Priorscited by 70
  9. 2021TANDEM: Tracking and Dense Mapping in Real-time using Deep Multi-view Stereocited by 39
  10. 2019Bundle Adjustment Revisitedcited by 7

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2022: 5; 2023: 17; 2024: 33; 2025: 14; 2026: 10.

79 papers.

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  1. 2022NeRF-SLAM: Real-Time Dense Monocular SLAM with Neural Radiance Fieldscited by 188
  2. 2023NICER-SLAM: Neural Implicit Scene Encoding for RGB SLAMcited by 162
  3. 2023Point-SLAM: Dense Neural Point Cloud-based SLAMcited by 160
  4. 2022ESLAM: Efficient Dense SLAM System Based on Hybrid Representation of Signed Distance Fieldscited by 158
  5. 2023Gaussian-SLAM: Photo-realistic Dense SLAM with Gaussian Splattingcited by 152
  6. 2023Photo-SLAM: Real-time Simultaneous Localization and Photorealistic Mapping for Monocular, Stereo, and RGB-D Camerascited by 139
  7. 2025MUSt3R: Multi-view Network for Stereo 3D Reconstructioncited by 139
  8. 2023GO-SLAM: Global Optimization for Consistent 3D Instant Reconstructioncited by 132
  9. 2024SLAM3R: Real-Time Dense Scene Reconstruction from Monocular RGB Videoscited by 100
  10. 2024SGS-SLAM: Semantic Gaussian Splatting For Neural Dense SLAMcited by 86
  11. 2024How NeRFs and 3D Gaussian Splatting are Reshaping SLAM: a Surveycited by 72
  12. 2024RGBD GS-ICP SLAMcited by 65
38 more
  1. 2024Splat-SLAM: Globally Optimized RGB-only SLAM with 3D Gaussianscited by 64
  2. 2024CG-SLAM: Efficient Dense RGB-D SLAM in a Consistent Uncertainty-aware 3D Gaussian Fieldcited by 61
  3. 2024LoopSplat: Loop Closure by Registering 3D Gaussian Splatscited by 59
  4. 2024Loopy-SLAM: Dense Neural SLAM with Loop Closurescited by 48
  5. 2023FlowCam: Training Generalizable 3D Radiance Fields without Camera Poses via Pixel-Aligned Scene Flowcited by 38
  6. 2024GlORIE-SLAM: Globally Optimized RGB-only Implicit Encoding Point Cloud SLAMcited by 36
  7. 2023CP-SLAM: Collaborative Neural Point-based SLAM Systemcited by 32
  8. 2023HI-SLAM: Monocular Real-time Dense Mapping with Hybrid Implicit Fieldscited by 31
  9. 2022State of the Art in Dense Monocular Non-Rigid 3D Reconstructioncited by 30
  10. 2023Neural Implicit Dense Semantic SLAMcited by 26
  11. 2023MIPS-Fusion: Multi-Implicit-Submaps for Scalable and Robust Online Neural RGB-D Reconstructioncited by 24
  12. 2024DDN-SLAM: Real-time Dense Dynamic Neural Implicit SLAMcited by 22
  13. 2024MG-SLAM: Structure Gaussian Splatting SLAM with Manhattan World Hypothesiscited by 22
  14. 2022Multi-Object Navigation with dynamically learned neural implicit representationscited by 21
  15. 2024Neural Radiance Field in Autonomous Driving: A Surveycited by 19
  16. 2024NIS-SLAM: Neural Implicit Semantic RGB-D SLAM for 3D Consistent Scene Understandingcited by 19
  17. 2024MoD-SLAM: Monocular Dense Mapping for Unbounded 3D Scene Reconstructioncited by 18
  18. 2023DynaMoN: Motion-Aware Fast and Robust Camera Localization for Dynamic Neural Radiance Fieldscited by 16
  19. 2024NeRFs in Robotics: A Surveycited by 16
  20. 2025RGB-Only Gaussian Splatting SLAM for Unbounded Outdoor Scenescited by 16
  21. 2025DenseSplat: Densifying Gaussian Splatting SLAM with Neural Radiance Priorcited by 14
  22. 2024MAGiC-SLAM: Multi-Agent Gaussian Globally Consistent SLAMcited by 12
  23. 2025LiftFeat: 3D Geometry-Aware Local Feature Matchingcited by 12
  24. 2025SEGS-SLAM: Structure-enhanced 3D Gaussian Splatting SLAM with Appearance Embeddingcited by 11
  25. 2023NeuSE: Neural SE(3)-Equivariant Embedding for Consistent Spatial Understanding with Objectscited by 10
  26. 2023NeRF-VO: Real-Time Sparse Visual Odometry with Neural Radiance Fieldscited by 10
  27. 2023RGB-D Mapping and Tracking in a Plenoxel Radiance Fieldcited by 9
  28. 2025GS-LIVO: Real-Time LiDAR, Inertial, and Visual Multi-sensor Fused Odometry with Gaussian Mappingcited by 8
  29. 2025ODHSR: Online Dense 3D Reconstruction of Humans and Scenes from Monocular Videoscited by 8
  30. 2024Vox-Fusion++: Voxel-based Neural Implicit Dense Tracking and Mapping with Multi-mapscited by 7
  31. 2024MGSO: Monocular Real-time Photometric SLAM with Efficient 3D Gaussian Splattingcited by 7
  32. 2023FMapping: Factorized Efficient Neural Field Mapping for Real-Time Dense RGB SLAMcited by 6
  33. 2024Hi-Map: Hierarchical Factorized Radiance Field for High-Fidelity Monocular Dense Mappingcited by 6
  34. 2024Benchmarking Implicit Neural Representation and Geometric Rendering in Real-Time RGB-D SLAMcited by 6
  35. 2024IG-SLAM: Instant Gaussian SLAMcited by 6
  36. 2025VIGS-SLAM: Visual Inertial Gaussian Splatting SLAMcited by 6
  37. 2025Understanding while Exploring: Semantics-driven Active Mappingcited by 5
  38. 2026FeatureSLAM: Feature-enriched 3D gaussian splatting SLAM in real timecited by 5

50 most cited of 79 All 79 (JSON)