mlsanityData to 7 Oct 2026

NeRF-SLAM: Real-Time Dense Monocular SLAM with Neural Radiance Fields

arXiv 2210.13641 ↗First posted 24 Oct 2022cs.CVcited by 188

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Abstract (arXiv)

We propose a novel geometric and photometric 3D mapping pipeline for accurate and real-time scene reconstruction from monocular images. To achieve this, we leverage recent advances in dense monocular SLAM and real-time hierarchical volumetric neural radiance fields. Our insight is that dense monocular SLAM provides the right information to fit a neural radiance field of the scene in real-time, by providing accurate pose estimates and depth-maps with associated uncertainty. With our proposed uncertainty-based depth loss, we achieve not only good photometric accuracy, but also great geometric accuracy. In fact, our proposed pipeline achieves better geometric and photometric accuracy than competing approaches (up to 179% better PSNR and 86% better L1 depth), while working in real-time and using only monocular images.

Key facts. Cited by 188 papers in the map (data through 7 Oct 2026). Builds on 31 of its 43 references that are in the map. First posted on arXiv 24 Oct 2022.

Builds on

31 of 43 references.

References · 31

  1. 2022Instant Neural Graphics Primitives with a Multiresolution Hash Encodingcited by 3,698
  2. 2020RAFT: Recurrent All-Pairs Field Transforms for Optical Flowcited by 2,385
  3. 2020Fourier Features Let Networks Learn High Frequency Functions in Low Dimensional Domainscited by 2,170
  4. 2021NeuS: Learning Neural Implicit Surfaces by Volume Rendering for Multi-view Reconstructioncited by 1,701
  5. 2021Plenoxels: Radiance Fields without Neural Networkscited by 1,607
  6. 2021Volume Rendering of Neural Implicit Surfacescited by 990
  7. 2019The Replica Dataset: A Digital Replica of Indoor Spacescited by 885
  8. 2016ORB-SLAM2: an Open-Source SLAM System for Monocular, Stereo and RGB-D Camerascited by 801
  9. 2018MVSNet: Depth Inference for Unstructured Multi-view Stereocited by 780
  10. 2021Depth-supervised NeRF: Fewer Views and Faster Training for Freecited by 732
  11. 2021DROID-SLAM: Deep Visual SLAM for Monocular, Stereo, and RGB-D Camerascited by 673
  12. 2021UNISURF: Unifying Neural Implicit Surfaces and Radiance Fields for Multi-View Reconstructioncited by 643
19 more
  1. 2021BARF: Bundle-Adjusting Neural Radiance Fieldscited by 641
  2. 2021NICE-SLAM: Neural Implicit Scalable Encoding for SLAMcited by 586
  3. 2020TartanAir: A Dataset to Push the Limits of Visual SLAMcited by 494
  4. 2021iMAP: Implicit Mapping and Positioning in Real-Timecited by 476
  5. 2022MonoSDF: Exploring Monocular Geometric Cues for Neural Implicit Surface Reconstructioncited by 467
  6. 2021Neural Geometric Level of Detail: Real-time Rendering with Implicit 3D Shapescited by 426
  7. 2020INeRF: Inverting Neural Radiance Fields for Pose Estimationcited by 381
  8. 2021Neural RGB-D Surface Reconstructioncited by 312
  9. 2020Neural Scene Graphs for Dynamic Scenescited by 298
  10. 2017CNN-SLAM: Real-time dense monocular SLAM with learned depth predictioncited by 152
  11. 2018CodeSLAM - Learning a Compact, Optimisable Representation for Dense Visual SLAMcited by 151
  12. 2021Kimera: from SLAM to Spatial Perception with 3D Dynamic Scene Graphscited by 144
  13. 20203D Dynamic Scene Graphs: Actionable Spatial Perception with Places, Objects, and Humanscited by 141
  14. 2022NeuRIS: Neural Reconstruction of Indoor Scenes Using Normal Priorscited by 125
  15. 2022NeRF-Supervision: Learning Dense Object Descriptors from Neural Radiance Fieldscited by 86
  16. 2022Orbeez-SLAM: A Real-time Monocular Visual SLAM with ORB Features and NeRF-realized Mappingcited by 79
  17. 2021TANDEM: Tracking and Dense Mapping in Real-time using Deep Multi-view Stereocited by 39
  18. 2022Probabilistic Volumetric Fusion for Dense Monocular SLAMcited by 16
  19. 2022Mip-NeRF RGB-D: Depth Assisted Fast Neural Radiance Fieldscited by 11

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2022: 6; 2023: 48; 2024: 83; 2025: 38; 2026: 13.

188 papers.

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  1. 2023SplaTAM: Splat, Track & Map 3D Gaussians for Dense RGB-D SLAMcited by 386
  2. 2022NoPe-NeRF: Optimising Neural Radiance Field with No Pose Priorcited by 235
  3. 2023Robust Dynamic Radiance Fieldscited by 193
  4. 2024Agent AI: Surveying the Horizons of Multimodal Interactioncited by 167
  5. 2023NICER-SLAM: Neural Implicit Scene Encoding for RGB SLAMcited by 162
  6. 2023Point-SLAM: Dense Neural Point Cloud-based SLAMcited by 160
  7. 2022ESLAM: Efficient Dense SLAM System Based on Hybrid Representation of Signed Distance Fieldscited by 158
  8. 2023Gaussian-SLAM: Photo-realistic Dense SLAM with Gaussian Splattingcited by 152
  9. 2025MUSt3R: Multi-view Network for Stereo 3D Reconstructioncited by 139
  10. 2023GO-SLAM: Global Optimization for Consistent 3D Instant Reconstructioncited by 132
  11. 2023RobustNeRF: Ignoring Distractors with Robust Lossescited by 101
  12. 2024SLAM3R: Real-Time Dense Scene Reconstruction from Monocular RGB Videoscited by 100
38 more
  1. 2023Toward General-Purpose Robots via Foundation Models: A Survey and Meta-Analysiscited by 99
  2. 2023Language Embedded Radiance Fields for Zero-Shot Task-Oriented Graspingcited by 91
  3. 2024GSDF: 3DGS Meets SDF for Improved Rendering and Reconstructioncited by 81
  4. 2024Align3R: Aligned Monocular Depth Estimation for Dynamic Videoscited by 79
  5. 2024How NeRFs and 3D Gaussian Splatting are Reshaping SLAM: a Surveycited by 72
  6. 2024Deep Patch Visual SLAMcited by 68
  7. 2023vMAP: Vectorised Object Mapping for Neural Field SLAMcited by 67
  8. 2024Splat-SLAM: Globally Optimized RGB-only SLAM with 3D Gaussianscited by 64
  9. 2024CG-SLAM: Efficient Dense RGB-D SLAM in a Consistent Uncertainty-aware 3D Gaussian Fieldcited by 61
  10. 2024LoopSplat: Loop Closure by Registering 3D Gaussian Splatscited by 59
  11. 2024EvaGaussians: Event Stream Assisted Gaussian Splatting from Blurry Imagescited by 56
  12. 2023CamP: Camera Preconditioning for Neural Radiance Fieldscited by 55
  13. 2024Loopy-SLAM: Dense Neural SLAM with Loop Closurescited by 48
  14. 2023CROSSFIRE: Camera Relocalization On Self-Supervised Features from an Implicit Representationcited by 45
  15. 2024Textured Gaussians for Enhanced 3D Scene Appearance Modelingcited by 40
  16. 2024GenNBV: Generalizable Next-Best-View Policy for Active 3D Reconstructioncited by 39
  17. 2023FlowCam: Training Generalizable 3D Radiance Fields without Camera Poses via Pixel-Aligned Scene Flowcited by 38
  18. 2024Splat-MOVER: Multi-Stage, Open-Vocabulary Robotic Manipulation via Editable Gaussian Splattingcited by 37
  19. 2024GlORIE-SLAM: Globally Optimized RGB-only Implicit Encoding Point Cloud SLAMcited by 36
  20. 2023LU-NeRF: Scene and Pose Estimation by Synchronizing Local Unposed NeRFscited by 33
  21. 2023CP-SLAM: Collaborative Neural Point-based SLAM Systemcited by 32
  22. 2024The NeRFect Match: Exploring NeRF Features for Visual Localizationcited by 32
  23. 2024DynaMem: Online Dynamic Spatio-Semantic Memory for Open World Mobile Manipulationcited by 32
  24. 2023HI-SLAM: Monocular Real-time Dense Mapping with Hybrid Implicit Fieldscited by 31
  25. 2022State of the Art in Dense Monocular Non-Rigid 3D Reconstructioncited by 30
  26. 2023NeRF-Loc: Visual Localization with Conditional Neural Radiance Fieldcited by 29
  27. 2023Neural feels with neural fields: Visuo-tactile perception for in-hand manipulationcited by 28
  28. 2023Neural Implicit Dense Semantic SLAMcited by 26
  29. 2023Grid-Centric Traffic Scenario Perception for Autonomous Driving: A Comprehensive Reviewcited by 25
  30. 2023UE4-NeRF:Neural Radiance Field for Real-Time Rendering of Large-Scale Scenecited by 25
  31. 2023MIPS-Fusion: Multi-Implicit-Submaps for Scalable and Robust Online Neural RGB-D Reconstructioncited by 24
  32. 2024HI-SLAM2: Geometry-Aware Gaussian SLAM for Fast Monocular Scene Reconstructioncited by 24
  33. 2023VL-Fields: Towards Language-Grounded Neural Implicit Spatial Representationscited by 23
  34. 2024DDN-SLAM: Real-time Dense Dynamic Neural Implicit SLAMcited by 22
  35. 2025Outdoor Monocular SLAM with Global Scale-Consistent 3D Gaussian Pointmapscited by 21
  36. 2023Deep Learning for Camera Calibration and Beyond: A Surveycited by 20
  37. 2025Challenges and Trends in Egocentric Vision: A Surveycited by 20
  38. 2024Neural Radiance Field in Autonomous Driving: A Surveycited by 19

50 most cited of 188 All 188 (JSON)