mlsanityData to 7 Oct 2026

vMAP: Vectorised Object Mapping for Neural Field SLAM

arXiv 2302.01838 ↗First posted 3 Feb 2023cs.CVcited by 67

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Abstract (arXiv)

We present vMAP, an object-level dense SLAM system using neural field representations. Each object is represented by a small MLP, enabling efficient, watertight object modelling without the need for 3D priors. As an RGB-D camera browses a scene with no prior information, vMAP detects object instances on-the-fly, and dynamically adds them to its map. Specifically, thanks to the power of vectorised training, vMAP can optimise as many as 50 individual objects in a single scene, with an extremely efficient training speed of 5Hz map update. We experimentally demonstrate significantly improved scene-level and object-level reconstruction quality compared to prior neural field SLAM systems. Project page: https://kxhit.github.io/vMAP.

Key facts. Cited by 67 papers in the map (data through 7 Oct 2026). Builds on 39 of its 54 references that are in the map. First posted on arXiv 3 Feb 2023.

Builds on

39 of 54 references.

References · 39

  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. 2018Occupancy Networks: Learning 3D Reconstruction in Function Spacecited by 2,037
  5. 2021Mip-NeRF 360: Unbounded Anti-Aliased Neural Radiance Fieldscited by 2,013
  6. 2019LVIS: A Dataset for Large Vocabulary Instance Segmentationcited by 1,215
  7. 2019The Replica Dataset: A Digital Replica of Indoor Spacescited by 885
  8. 2020ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAMcited by 862
  9. 2017An Overview of Multi-Task Learning in Deep Neural Networkscited by 791
  10. 2020GIRAFFE: Representing Scenes as Compositional Generative Neural Feature Fieldscited by 784
  11. 2021KiloNeRF: Speeding up Neural Radiance Fields with Thousands of Tiny MLPscited by 672
  12. 2021UNISURF: Unifying Neural Implicit Surfaces and Radiance Fields for Multi-View Reconstructioncited by 643
27 more
  1. 2022Detecting Twenty-thousand Classes using Image-level Supervisioncited by 613
  2. 2021NICE-SLAM: Neural Implicit Scalable Encoding for SLAMcited by 586
  3. 2018End-to-End Multi-Task Learning with Attentioncited by 533
  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. 2016Cross-stitch Networks for Multi-task Learningcited by 466
  7. 2021Learning Object-Compositional Neural Radiance Field for Editable Scene Renderingcited by 228
  8. 2022NeRF-Editing: Geometry Editing of Neural Radiance Fieldscited by 216
  9. 2022NeRF-SLAM: Real-Time Dense Monocular SLAM with Neural Radiance Fieldscited by 188
  10. 2021CodeNeRF: Disentangled Neural Radiance Fields for Object Categoriescited by 183
  11. 2020DeRF: Decomposed Radiance Fieldscited by 163
  12. 2022Vox-Fusion: Dense Tracking and Mapping with Voxel-based Neural Implicit Representationcited by 149
  13. 2016BundleFusion: Real-time Globally Consistent 3D Reconstruction using On-the-fly Surface Re-integrationcited by 116
  14. 2020HR-Depth: High Resolution Self-Supervised Monocular Depth Estimationcited by 115
  15. 2018Fusion++: Volumetric Object-Level SLAMcited by 97
  16. 2022Object-Compositional Neural Implicit Surfacescited by 74
  17. 2018MID-Fusion: Octree-based Object-Level Multi-Instance Dynamic SLAMcited by 65
  18. 2020NodeSLAM: Neural Object Descriptors for Multi-View Shape Reconstructioncited by 61
  19. 2022GO-Surf: Neural Feature Grid Optimization for Fast, High-Fidelity RGB-D Surface Reconstructioncited by 61
  20. 2017Co-Fusion: Real-time Segmentation, Tracking and Fusion of Multiple Objectscited by 47
  21. 2020MoreFusion: Multi-object Reasoning for 6D Pose Estimation from Volumetric Fusioncited by 46
  22. 2022SHINE-Mapping: Large-Scale 3D Mapping Using Sparse Hierarchical Implicit Neural Representationscited by 44
  23. 2020Semantic Graph Based Place Recognition for 3D Point Cloudscited by 43
  24. 2019SceneCode: Monocular Dense Semantic Reconstruction using Learned Encoded Scene Representationscited by 37
  25. 2021DSP-SLAM: Object Oriented SLAM with Deep Shape Priorscited by 30
  26. 2021ILabel: Interactive Neural Scene Labellingcited by 28
  27. 2022Generative Category-Level Shape and Pose Estimation with Semantic Primitivescited by 19

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2023: 18; 2024: 29; 2025: 12; 2026: 8.

67 papers.

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  1. 2023SplaTAM: Splat, Track & Map 3D Gaussians for Dense RGB-D SLAMcited by 386
  2. 20243D Reconstruction with Spatial Memorycited by 269
  3. 2024SGS-SLAM: Semantic Gaussian Splatting For Neural Dense SLAMcited by 86
  4. 2023OVIR-3D: Open-Vocabulary 3D Instance Retrieval Without Training on 3D Datacited by 81
  5. 2024How NeRFs and 3D Gaussian Splatting are Reshaping SLAM: a Surveycited by 72
  6. 2024RGBD GS-ICP SLAMcited by 65
  7. 2024Neural Signed Distance Function Inference through Splatting 3D Gaussians Pulled on Zero-Level Setcited by 47
  8. 2024PhyRecon: Physically Plausible Neural Scene Reconstructioncited by 44
  9. 2024SemGauss-SLAM: Dense Semantic Gaussian Splatting SLAMcited by 41
  10. 2023ObjectSDF++: Improved Object-Compositional Neural Implicit Surfacescited by 38
  11. 2023SAM-guided Graph Cut for 3D Instance Segmentationcited by 35
  12. 2023CP-SLAM: Collaborative Neural Point-based SLAM Systemcited by 32
38 more
  1. 2023GaussianDiffusion: 3D Gaussian Splatting for Denoising Diffusion Probabilistic Models with Structured Noisecited by 30
  2. 2025Decompositional Neural Scene Reconstruction with Generative Diffusion Priorcited by 30
  3. 2023DNS SLAM: Dense Neural Semantic-Informed SLAMcited by 23
  4. 2024DDN-SLAM: Real-time Dense Dynamic Neural Implicit SLAMcited by 22
  5. 2024MG-SLAM: Structure Gaussian Splatting SLAM with Manhattan World Hypothesiscited by 22
  6. 2024DynOMo: Online Point Tracking by Dynamic Online Monocular Gaussian Reconstructioncited by 20
  7. 2024NIS-SLAM: Neural Implicit Semantic RGB-D SLAM for 3D Consistent Scene Understandingcited by 19
  8. 2024VRP-UDF: Towards Unbiased Learning of Unsigned Distance Functions from Multi-view Images with Volume Rendering Priorscited by 17
  9. 2023Dream2Real: Zero-Shot 3D Object Rearrangement with Vision-Language Modelscited by 16
  10. 2024Total-Decom: Decomposed 3D Scene Reconstruction with Minimal Interactioncited by 12
  11. 2023Learning Neural Implicit through Volume Rendering with Attentive Depth Fusion Priorscited by 11
  12. 2024Semantically-aware Neural Radiance Fields for Visual Scene Understanding: A Comprehensive Reviewcited by 9
  13. 2024Bayesian NeRF: Quantifying Uncertainty with Volume Density for Neural Implicit Fieldscited by 9
  14. 2023O2-Recon: Completing 3D Reconstruction of Occluded Objects in the Scene with a Pre-trained 2D Diffusion Modelcited by 8
  15. 20243D LiDAR Mapping in Dynamic Environments Using a 4D Implicit Neural Representationcited by 8
  16. 2025VTGaussian-SLAM: RGBD SLAM for Large Scale Scenes with Splatting View-Tied 3D Gaussianscited by 8
  17. 2023Neural Implicit Vision-Language Feature Fieldscited by 7
  18. 2023Neural Stochastic Screened Poisson Reconstructioncited by 7
  19. 2024Benchmarking Implicit Neural Representation and Geometric Rendering in Real-Time RGB-D SLAMcited by 6
  20. 2024From NeRFs to Gaussian Splats, and Backcited by 6
  21. 2024OpenObj: Open-Vocabulary Object-Level Neural Radiance Fields with Fine-Grained Understandingcited by 6
  22. 2025Is Single-View Mesh Reconstruction Ready for Robotics?cited by 6
  23. 2023Multi-task View Synthesis with Neural Radiance Fieldscited by 5
  24. 2024Toward General Object-level Mapping from Sparse Views with 3D Diffusion Priorscited by 5
  25. 2026FeatureSLAM: Feature-enriched 3D gaussian splatting SLAM in real timecited by 5
  26. 2024Efficient 3D Instance Mapping and Localization with Neural Fieldscited by 4
  27. 2024Fast Sparse View Guided NeRF Update for Object Reconfigurationscited by 3
  28. 2024Neural Graph Map: Dense Mapping with Efficient Loop Closure Integrationcited by 3
  29. 2024Uni-SLAM: Uncertainty-Aware Neural Implicit SLAM for Real-Time Dense Indoor Scene Reconstructioncited by 3
  30. 2024Query Quantized Neural SLAMcited by 3
  31. 2023Towards a Robust Framework for NeRF Evaluationcited by 2
  32. 2023ASSIST: Interactive Scene Nodes for Scalable and Realistic Indoor Simulationcited by 2
  33. 2023MorpheuS: Neural Dynamic 360deg Surface Reconstruction from Monocular RGB-D Videocited by 2
  34. 2024SLAIM: Robust Dense Neural SLAM for Online Tracking and Mappingcited by 2
  35. 2024ST-NeRP: Spatial-Temporal Neural Representation Learning with Prior Embedding for Patient-specific Imaging Studycited by 2
  36. 2025RAZER: Robust Accelerated Zero-Shot 3D Open-Vocabulary Panoptic Reconstruction with Spatio-Temporal Aggregationcited by 2
  37. 2025A Probability-guided Sampler for Neural Implicit Surface Renderingcited by 2
  38. 2026Lucida: Parse, Generate, and Place for Composable Real-to-Sim Scene Modelingcited by 2

50 most cited of 67 All 67 (JSON)