mlsanityData to 7 Oct 2026

CP-SLAM: Collaborative Neural Point-based SLAM System

arXiv 2311.08013 ↗First posted 14 Nov 2023cs.CV cs.GR cs.ROcited by 32

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Abstract (arXiv)

This paper presents a collaborative implicit neural simultaneous localization and mapping (SLAM) system with RGB-D image sequences, which consists of complete front-end and back-end modules including odometry, loop detection, sub-map fusion, and global refinement. In order to enable all these modules in a unified framework, we propose a novel neural point based 3D scene representation in which each point maintains a learnable neural feature for scene encoding and is associated with a certain keyframe. Moreover, a distributed-to-centralized learning strategy is proposed for the collaborative implicit SLAM to improve consistency and cooperation. A novel global optimization framework is also proposed to improve the system accuracy like traditional bundle adjustment. Experiments on various datasets demonstrate the superiority of the proposed method in both camera tracking and mapping.

Key facts. Cited by 32 papers in the map (data through 7 Oct 2026). Builds on 36 of its 50 references that are in the map. First posted on arXiv 14 Nov 2023.

Builds on

36 of 50 references.

References · 36

  1. 2021Mip-NeRF: A Multiscale Representation for Anti-Aliasing Neural Radiance Fieldscited by 1,957
  2. 2021NeuS: Learning Neural Implicit Surfaces by Volume Rendering for Multi-view Reconstructioncited by 1,701
  3. 2020NeRF in the Wild: Neural Radiance Fields for Unconstrained Photo Collectionscited by 1,230
  4. 2018Learning Implicit Fields for Generative Shape Modelingcited by 1,060
  5. 2021Volume Rendering of Neural Implicit Surfacescited by 990
  6. 2015ORB-SLAM: a Versatile and Accurate Monocular SLAM Systemcited by 983
  7. 2015NetVLAD: CNN architecture for weakly supervised place recognitioncited by 935
  8. 2019The Replica Dataset: A Digital Replica of Indoor Spacescited by 885
  9. 2020ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAMcited by 862
  10. 2016ORB-SLAM2: an Open-Source SLAM System for Monocular, Stereo and RGB-D Camerascited by 801
  11. 2020Convolutional Occupancy Networkscited by 760
  12. 2018Open3D: A Modern Library for 3D Data Processingcited by 717
24 more
  1. 2021DROID-SLAM: Deep Visual SLAM for Monocular, Stereo, and RGB-D Camerascited by 673
  2. 2021NICE-SLAM: Neural Implicit Scalable Encoding for SLAMcited by 586
  3. 2021Ref-NeRF: Structured View-Dependent Appearance for Neural Radiance Fieldscited by 569
  4. 2022Point-NeRF: Point-based Neural Radiance Fieldscited by 503
  5. 2021iMAP: Implicit Mapping and Positioning in Real-Timecited by 476
  6. 2017VINS-Mono: A Robust and Versatile Monocular Visual-Inertial State Estimatorcited by 418
  7. 2020INeRF: Inverting Neural Radiance Fields for Pose Estimationcited by 381
  8. 2020Local Implicit Grid Representations for 3D Scenescited by 372
  9. 2021NeRF in the Dark: High Dynamic Range View Synthesis from Noisy Raw Imagescited by 336
  10. 2020Deep Local Shapes: Learning Local SDF Priors for Detailed 3D Reconstructioncited by 321
  11. 2022NeRF-SLAM: Real-Time Dense Monocular SLAM with Neural Radiance Fieldscited by 188
  12. 2023Co-SLAM: Joint Coordinate and Sparse Parametric Encodings for Neural Real-Time SLAMcited by 183
  13. 2019DIST: Rendering Deep Implicit Signed Distance Function with Differentiable Sphere Tracingcited by 179
  14. 2022ESLAM: Efficient Dense SLAM System Based on Hybrid Representation of Signed Distance Fieldscited by 158
  15. 2022Vox-Fusion: Dense Tracking and Mapping with Voxel-based Neural Implicit Representationcited by 149
  16. 2022Orbeez-SLAM: A Real-time Monocular Visual SLAM with ORB Features and NeRF-realized Mappingcited by 79
  17. 2023vMAP: Vectorised Object Mapping for Neural Field SLAMcited by 67
  18. 2022Vox-Surf: Voxel-based Implicit Surface Representationcited by 49
  19. 2023Multi-Modal Neural Radiance Field for Monocular Dense SLAM with a Light-Weight ToF Sensorcited by 30
  20. 2019DOOR-SLAM: Distributed, Online, and Outlier Resilient SLAM for Robotic Teamscited by 28
  21. 2022DELTAR: Depth Estimation from a Light-weight ToF Sensor and RGB Imagecited by 26
  22. 2023Swarm-SLAM : Sparse Decentralized Collaborative Simultaneous Localization and Mapping Framework for Multi-Robot Systemscited by 21
  23. 2021COVINS: Visual-Inertial SLAM for Centralized Collaborationcited by 12
  24. 2023Descriptor Distillation for Efficient Multi-Robot SLAMcited by 4

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2024: 14; 2025: 10; 2026: 8.

32 papers.

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  1. 2024How NeRFs and 3D Gaussian Splatting are Reshaping SLAM: a Surveycited by 72
  2. 2024Splat-SLAM: Globally Optimized RGB-only SLAM with 3D Gaussianscited by 64
  3. 2024CG-SLAM: Efficient Dense RGB-D SLAM in a Consistent Uncertainty-aware 3D Gaussian Fieldcited by 61
  4. 2024LoopSplat: Loop Closure by Registering 3D Gaussian Splatscited by 59
  5. 2024SemGauss-SLAM: Dense Semantic Gaussian Splatting SLAMcited by 41
  6. 2024GlORIE-SLAM: Globally Optimized RGB-only Implicit Encoding Point Cloud SLAMcited by 36
  7. 2024Neural Radiance Field in Autonomous Driving: A Surveycited by 19
  8. 2026Multiplayer Interactive World Models with Representation Autoencoderscited by 14
  9. 2024BlinkVision: A Benchmark for Optical Flow, Scene Flow and Point Tracking Estimation using RGB Frames and Eventscited by 13
  10. 2024MAGiC-SLAM: Multi-Agent Gaussian Globally Consistent SLAMcited by 12
  11. 2025SEGS-SLAM: Structure-enhanced 3D Gaussian Splatting SLAM with Appearance Embeddingcited by 11
  12. 2025MCN-SLAM: Multi-Agent Collaborative Neural SLAM with Hybrid Implicit Neural Scene Representationcited by 11
20 more
  1. 2025GaussianUpdate: Continual 3D Gaussian Splatting Update for Changing Environmentscited by 11
  2. 2025VTGaussian-SLAM: RGBD SLAM for Large Scale Scenes with Splatting View-Tied 3D Gaussianscited by 8
  3. 2024Hi-Map: Hierarchical Factorized Radiance Field for High-Fidelity Monocular Dense Mappingcited by 6
  4. 2024Benchmarking Implicit Neural Representation and Geometric Rendering in Real-Time RGB-D SLAMcited by 6
  5. 2024ETO:Efficient Transformer-based Local Feature Matching by Organizing Multiple Homography Hypothesescited by 6
  6. 2025DINO-SLAM: DINO-informed RGB-D SLAM for Neural Implicit and Explicit Representationscited by 6
  7. 2024MAC-Ego3D: Multi-Agent Gaussian Consensus for Real-Time Collaborative Ego-Motion and Photorealistic 3D Reconstructioncited by 5
  8. 2025GRAND-SLAM: Local Optimization for Globally Consistent Large-Scale Multi-Agent Gaussian SLAMcited by 4
  9. 2024Distributed NeRF Learning for Collaborative Multi-Robot Perceptioncited by 2
  10. 2025Deblur Gaussian Splatting SLAMcited by 2
  11. 2025RemixFusion: Residual-based Mixed Representation for Large-scale Online RGB-D Reconstructioncited by 2
  12. 2026Towards Next-Generation SLAM: A Survey on 3DGS-SLAM Focusing on Performance, Robustness, and Future Directionscited by 2
  13. 2025Maps for Autonomous Driving: Full-process Survey and Frontierscited by 1
  14. 2026Dense Dynamic Scene Reconstruction and Camera Pose Estimation from Multi-View Videoscited by 1
  15. 2026SGAD-SLAM: Splatting Gaussians at Adjusted Depth for Better Radiance Fields in RGBD SLAMcited by 1
  16. 2025CoCoL: A Communication Efficient Decentralized Collaborative Method for Multi-Robot Systemscited by 0
  17. 2026Compact Keyframe-Optimized Multi-Agent Gaussian Splatting SLAMcited by 0
  18. 2026MAGiSt3R: Multi-Agent Feed-forward 3D Reconstruction from Monocular RGB Videoscited by 0
  19. 2026CGS-SLAM: Collaborative Gaussian Splatting based SLAM for Multi-Agent Reconstructioncited by 0
  20. 2026HIGS: Hierarchical Implicit Grids for Joint Geometric and Semantic Scene Understandingcited by 0