# CP-SLAM: Collaborative Neural Point-based SLAM System

arXiv: https://arxiv.org/abs/2311.08013 · HTML: https://mlsanity.com/paper/2311.08013/

## Key facts

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

## Builds on (most cited first, 30 of 36)

- [Mip-NeRF: A Multiscale Representation for Anti-Aliasing Neural Radiance Fields](https://mlsanity.com/paper/2103.13415/) (2021)
- [NeuS: Learning Neural Implicit Surfaces by Volume Rendering for Multi-view Reconstruction](https://mlsanity.com/paper/2106.10689/) (2021)
- [NeRF in the Wild: Neural Radiance Fields for Unconstrained Photo Collections](https://mlsanity.com/paper/2008.02268/) (2020)
- [Learning Implicit Fields for Generative Shape Modeling](https://mlsanity.com/paper/1812.02822/) (2018)
- [Volume Rendering of Neural Implicit Surfaces](https://mlsanity.com/paper/2106.12052/) (2021)
- [ORB-SLAM: a Versatile and Accurate Monocular SLAM System](https://mlsanity.com/paper/1502.00956/) (2015)
- [NetVLAD: CNN architecture for weakly supervised place recognition](https://mlsanity.com/paper/1511.07247/) (2015)
- [The Replica Dataset: A Digital Replica of Indoor Spaces](https://mlsanity.com/paper/1906.05797/) (2019)
- [ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAM](https://mlsanity.com/paper/2007.11898/) (2020)
- [ORB-SLAM2: an Open-Source SLAM System for Monocular, Stereo and RGB-D Cameras](https://mlsanity.com/paper/1610.06475/) (2016)
- [Convolutional Occupancy Networks](https://mlsanity.com/paper/2003.04618/) (2020)
- [Open3D: A Modern Library for 3D Data Processing](https://mlsanity.com/paper/1801.09847/) (2018)
- [DROID-SLAM: Deep Visual SLAM for Monocular, Stereo, and RGB-D Cameras](https://mlsanity.com/paper/2108.10869/) (2021)
- [NICE-SLAM: Neural Implicit Scalable Encoding for SLAM](https://mlsanity.com/paper/2112.12130/) (2021)
- [Ref-NeRF: Structured View-Dependent Appearance for Neural Radiance Fields](https://mlsanity.com/paper/2112.03907/) (2021)
- [Point-NeRF: Point-based Neural Radiance Fields](https://mlsanity.com/paper/2201.08845/) (2022)
- [iMAP: Implicit Mapping and Positioning in Real-Time](https://mlsanity.com/paper/2103.12352/) (2021)
- [VINS-Mono: A Robust and Versatile Monocular Visual-Inertial State Estimator](https://mlsanity.com/paper/1708.03852/) (2017)
- [INeRF: Inverting Neural Radiance Fields for Pose Estimation](https://mlsanity.com/paper/2012.05877/) (2020)
- [Local Implicit Grid Representations for 3D Scenes](https://mlsanity.com/paper/2003.08981/) (2020)
- [NeRF in the Dark: High Dynamic Range View Synthesis from Noisy Raw Images](https://mlsanity.com/paper/2111.13679/) (2021)
- [Deep Local Shapes: Learning Local SDF Priors for Detailed 3D Reconstruction](https://mlsanity.com/paper/2003.10983/) (2020)
- [NeRF-SLAM: Real-Time Dense Monocular SLAM with Neural Radiance Fields](https://mlsanity.com/paper/2210.13641/) (2022)
- [Co-SLAM: Joint Coordinate and Sparse Parametric Encodings for Neural Real-Time SLAM](https://mlsanity.com/paper/2304.14377/) (2023)
- [DIST: Rendering Deep Implicit Signed Distance Function with Differentiable Sphere Tracing](https://mlsanity.com/paper/1911.13225/) (2019)
- [ESLAM: Efficient Dense SLAM System Based on Hybrid Representation of Signed Distance Fields](https://mlsanity.com/paper/2211.11704/) (2022)
- [Vox-Fusion: Dense Tracking and Mapping with Voxel-based Neural Implicit Representation](https://mlsanity.com/paper/2210.15858/) (2022)
- [Orbeez-SLAM: A Real-time Monocular Visual SLAM with ORB Features and NeRF-realized Mapping](https://mlsanity.com/paper/2209.13274/) (2022)
- [vMAP: Vectorised Object Mapping for Neural Field SLAM](https://mlsanity.com/paper/2302.01838/) (2023)
- [Vox-Surf: Voxel-based Implicit Surface Representation](https://mlsanity.com/paper/2208.10925/) (2022)

## Built on by (most cited first, 30 of 32)

- [How NeRFs and 3D Gaussian Splatting are Reshaping SLAM: a Survey](https://mlsanity.com/paper/2402.13255/) (2024)
- [Splat-SLAM: Globally Optimized RGB-only SLAM with 3D Gaussians](https://mlsanity.com/paper/2405.16544/) (2024)
- [CG-SLAM: Efficient Dense RGB-D SLAM in a Consistent Uncertainty-aware 3D Gaussian Field](https://mlsanity.com/paper/2403.16095/) (2024)
- [LoopSplat: Loop Closure by Registering 3D Gaussian Splats](https://mlsanity.com/paper/2408.10154/) (2024)
- [SemGauss-SLAM: Dense Semantic Gaussian Splatting SLAM](https://mlsanity.com/paper/2403.07494/) (2024)
- [GlORIE-SLAM: Globally Optimized RGB-only Implicit Encoding Point Cloud SLAM](https://mlsanity.com/paper/2403.19549/) (2024)
- [Neural Radiance Field in Autonomous Driving: A Survey](https://mlsanity.com/paper/2404.13816/) (2024)
- [Multiplayer Interactive World Models with Representation Autoencoders](https://mlsanity.com/paper/2607.05352/) (2026)
- [BlinkVision: A Benchmark for Optical Flow, Scene Flow and Point Tracking Estimation using RGB Frames and Events](https://mlsanity.com/paper/2410.20451/) (2024)
- [MAGiC-SLAM: Multi-Agent Gaussian Globally Consistent SLAM](https://mlsanity.com/paper/2411.16785/) (2024)
- [SEGS-SLAM: Structure-enhanced 3D Gaussian Splatting SLAM with Appearance Embedding](https://mlsanity.com/paper/2501.05242/) (2025)
- [MCN-SLAM: Multi-Agent Collaborative Neural SLAM with Hybrid Implicit Neural Scene Representation](https://mlsanity.com/paper/2506.18678/) (2025)
- [GaussianUpdate: Continual 3D Gaussian Splatting Update for Changing Environments](https://mlsanity.com/paper/2508.08867/) (2025)
- [VTGaussian-SLAM: RGBD SLAM for Large Scale Scenes with Splatting View-Tied 3D Gaussians](https://mlsanity.com/paper/2506.02741/) (2025)
- [Hi-Map: Hierarchical Factorized Radiance Field for High-Fidelity Monocular Dense Mapping](https://mlsanity.com/paper/2401.03203/) (2024)
- [Benchmarking Implicit Neural Representation and Geometric Rendering in Real-Time RGB-D SLAM](https://mlsanity.com/paper/2403.19473/) (2024)
- [ETO:Efficient Transformer-based Local Feature Matching by Organizing Multiple Homography Hypotheses](https://mlsanity.com/paper/2410.22733/) (2024)
- [DINO-SLAM: DINO-informed RGB-D SLAM for Neural Implicit and Explicit Representations](https://mlsanity.com/paper/2507.19474/) (2025)
- [MAC-Ego3D: Multi-Agent Gaussian Consensus for Real-Time Collaborative Ego-Motion and Photorealistic 3D Reconstruction](https://mlsanity.com/paper/2412.09723/) (2024)
- [GRAND-SLAM: Local Optimization for Globally Consistent Large-Scale Multi-Agent Gaussian SLAM](https://mlsanity.com/paper/2506.18885/) (2025)
- [Distributed NeRF Learning for Collaborative Multi-Robot Perception](https://mlsanity.com/paper/2409.20289/) (2024)
- [Deblur Gaussian Splatting SLAM](https://mlsanity.com/paper/2503.12572/) (2025)
- [RemixFusion: Residual-based Mixed Representation for Large-scale Online RGB-D Reconstruction](https://mlsanity.com/paper/2507.17594/) (2025)
- [Towards Next-Generation SLAM: A Survey on 3DGS-SLAM Focusing on Performance, Robustness, and Future Directions](https://mlsanity.com/paper/2602.04251/) (2026)
- [Maps for Autonomous Driving: Full-process Survey and Frontiers](https://mlsanity.com/paper/2509.12632/) (2025)
- [Dense Dynamic Scene Reconstruction and Camera Pose Estimation from Multi-View Videos](https://mlsanity.com/paper/2603.12064/) (2026)
- [SGAD-SLAM: Splatting Gaussians at Adjusted Depth for Better Radiance Fields in RGBD SLAM](https://mlsanity.com/paper/2603.21055/) (2026)
- [CoCoL: A Communication Efficient Decentralized Collaborative Method for Multi-Robot Systems](https://mlsanity.com/paper/2508.20898/) (2025)
- [Compact Keyframe-Optimized Multi-Agent Gaussian Splatting SLAM](https://mlsanity.com/paper/2604.00804/) (2026)
- [MAGiSt3R: Multi-Agent Feed-forward 3D Reconstruction from Monocular RGB Videos](https://mlsanity.com/paper/2607.15211/) (2026)

## 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.