mlsanityData to 7 Oct 2026

GS-SLAM: Dense Visual SLAM with 3D Gaussian Splatting

arXiv 2311.11700 ↗First posted 20 Nov 2023cs.CVcited by 278

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Abstract (arXiv)

In this paper, we introduce GS-SLAM that first utilizes 3D Gaussian representation in the Simultaneous Localization and Mapping (SLAM) system. It facilitates a better balance between efficiency and accuracy. Compared to recent SLAM methods employing neural implicit representations, our method utilizes a real-time differentiable splatting rendering pipeline that offers significant speedup to map optimization and RGB-D rendering. Specifically, we propose an adaptive expansion strategy that adds new or deletes noisy 3D Gaussians in order to efficiently reconstruct new observed scene geometry and improve the mapping of previously observed areas. This strategy is essential to extend 3D Gaussian representation to reconstruct the whole scene rather than synthesize a static object in existing methods. Moreover, in the pose tracking process, an effective coarse-to-fine technique is designed to select reliable 3D Gaussian representations to optimize camera pose, resulting in runtime reduction and robust estimation. Our method achieves competitive performance compared with existing state-of-the-art real-time methods on the Replica, TUM-RGBD datasets. Project page: https://gs-slam.github.io/.

Key facts. Cited by 278 papers in the map (data through 7 Oct 2026). Builds on 32 of its 56 references that are in the map. First posted on arXiv 20 Nov 2023.

Builds on

32 of 56 references.

References · 32

  1. 2018The Unreasonable Effectiveness of Deep Features as a Perceptual Metriccited by 11,029
  2. 20233D Gaussian Splatting for Real-Time Radiance Field Renderingcited by 6,141
  3. 20234D Gaussian Splatting for Real-Time Dynamic Scene Renderingcited by 1,144
  4. 2019The Replica Dataset: A Digital Replica of Indoor Spacescited by 885
  5. 2023DreamGaussian: Generative Gaussian Splatting for Efficient 3D Content Creationcited by 837
  6. 2016ORB-SLAM2: an Open-Source SLAM System for Monocular, Stereo and RGB-D Camerascited by 801
  7. 2023Deformable 3D Gaussians for High-Fidelity Monocular Dynamic Scene Reconstructioncited by 753
  8. 2023Dynamic 3D Gaussians: Tracking by Persistent Dynamic View Synthesiscited by 731
  9. 2021DROID-SLAM: Deep Visual SLAM for Monocular, Stereo, and RGB-D Camerascited by 673
  10. 2021NICE-SLAM: Neural Implicit Scalable Encoding for SLAMcited by 586
  11. 2021iMAP: Implicit Mapping and Positioning in Real-Timecited by 476
  12. 2023Real-time Photorealistic Dynamic Scene Representation and Rendering with 4D Gaussian Splattingcited by 470
20 more
  1. 2023Text-to-3D using Gaussian Splattingcited by 299
  2. 2023Co-SLAM: Joint Coordinate and Sparse Parametric Encodings for Neural Real-Time SLAMcited by 183
  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. 2018CodeSLAM - Learning a Compact, Optimisable Representation for Dense Visual SLAMcited by 151
  6. 2022Vox-Fusion: Dense Tracking and Mapping with Voxel-based Neural Implicit Representationcited by 149
  7. 2023GO-SLAM: Global Optimization for Consistent 3D Instant Reconstructioncited by 132
  8. 2023Drivable 3D Gaussian Avatarscited by 120
  9. 2020DI-Fusion: Online Implicit 3D Reconstruction with Deep Priorscited by 70
  10. 2020NodeSLAM: Neural Object Descriptors for Multi-View Shape Reconstructioncited by 61
  11. 2022Approximate Differentiable Rendering with Algebraic Surfacescited by 44
  12. 2019SceneCode: Monocular Dense Semantic Reconstruction using Learned Encoded Scene Representationscited by 37
  13. 2023Flexible Techniques for Differentiable Rendering with 3D Gaussianscited by 28
  14. 2022VoGE: A Differentiable Volume Renderer using Gaussian Ellipsoids for Analysis-by-Synthesiscited by 22
  15. 2019Real-time Scalable Dense Surfel Mappingcited by 19
  16. 2023Implicit Event-RGBD Neural SLAMcited by 16
  17. 2017Efficient Online Surface Correction for Real-time Large-Scale 3D Reconstructioncited by 12
  18. 2023RGB-D Mapping and Tracking in a Plenoxel Radiance Fieldcited by 9
  19. 2018OVPC Mesh: 3D Free-space Representation for Local Ground Vehicle Navigationcited by 7
  20. 2014A Review Paper on Oculus Rift-A Virtual Reality Headsetcited by 2

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2023: 2; 2024: 102; 2025: 104; 2026: 70.

278 papers.

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  1. 2025AnySplat: Feed-forward 3D Gaussian Splatting from Unconstrained Viewscited by 234
  2. 2024A Survey on 3D Gaussian Splattingcited by 221
  3. 2024MASt3R-SLAM: Real-Time Dense SLAM with 3D Reconstruction Priorscited by 198
  4. 2024Aligning Cyber Space with Physical World: A Comprehensive Survey on Embodied AIcited by 175
  5. 2023Gaussian-SLAM: Photo-realistic Dense SLAM with Gaussian Splattingcited by 152
  6. 2025Pseudo-Simulation for Autonomous Drivingcited by 141
  7. 2024Recent Advances in 3D Gaussian Splattingcited by 130
  8. 2025VGGT-SLAM: Dense RGB SLAM Optimized on the SL(4) Manifoldcited by 130
  9. 2024Revising Densification in Gaussian Splattingcited by 127
  10. 2024RadSplat: Radiance Field-Informed Gaussian Splatting for Robust Real-Time Rendering with 900+ FPScited by 110
  11. 20243D Gaussian as a New Era: A Surveycited by 102
  12. 2024SLAM3R: Real-Time Dense Scene Reconstruction from Monocular RGB Videoscited by 100
38 more
  1. 2024GaussianImage: 1000 FPS Image Representation and Compression by 2D Gaussian Splattingcited by 97
  2. 2024SGS-SLAM: Semantic Gaussian Splatting For Neural Dense SLAMcited by 86
  3. 2024FreeSplat: Generalizable 3D Gaussian Splatting Towards Free-View Synthesis of Indoor Scenescited by 86
  4. 2024AbsGS: Recovering Fine Details for 3D Gaussian Splattingcited by 80
  5. 20243D Gaussian Splatting: Survey, Technologies, Challenges, and Opportunitiescited by 77
  6. 2024How NeRFs and 3D Gaussian Splatting are Reshaping SLAM: a Surveycited by 72
  7. 2024RGBD GS-ICP SLAMcited by 65
  8. 2024Splat-SLAM: Globally Optimized RGB-only SLAM with 3D Gaussianscited by 64
  9. 2024MotionGS: Exploring Explicit Motion Guidance for Deformable 3D Gaussian Splattingcited by 62
  10. 2024BAD-Gaussians: Bundle Adjusted Deblur Gaussian Splattingcited by 61
  11. 2024CG-SLAM: Efficient Dense RGB-D SLAM in a Consistent Uncertainty-aware 3D Gaussian Fieldcited by 61
  12. 2024LoopSplat: Loop Closure by Registering 3D Gaussian Splatscited by 59
  13. 2024Radiative Gaussian Splatting for Efficient X-ray Novel View Synthesiscited by 56
  14. 2025WildGS-SLAM: Monocular Gaussian Splatting SLAM in Dynamic Environmentscited by 48
  15. 2024EgoLifter: Open-world 3D Segmentation for Egocentric Perceptioncited by 46
  16. 2024EmbodiedOcc: Embodied 3D Occupancy Prediction for Vision-based Online Scene Understandingcited by 43
  17. 2024SplatLoc: 3D Gaussian Splatting-based Visual Localization for Augmented Realitycited by 42
  18. 2024SemGauss-SLAM: Dense Semantic Gaussian Splatting SLAMcited by 41
  19. 2024GlORIE-SLAM: Globally Optimized RGB-only Implicit Encoding Point Cloud SLAMcited by 36
  20. 2024HDR-GS: Efficient High Dynamic Range Novel View Synthesis at 1000x Speed via Gaussian Splattingcited by 35
  21. 2024InstanceGaussian: Appearance-Semantic Joint Gaussian Representation for 3D Instance-Level Perceptioncited by 35
  22. 2024WE-GS: An In-the-wild Efficient 3D Gaussian Representation for Unconstrained Photo Collectionscited by 33
  23. 2024ActiveSplat: High-Fidelity Scene Reconstruction through Active Gaussian Splattingcited by 32
  24. 2024DynaMem: Online Dynamic Spatio-Semantic Memory for Open World Mobile Manipulationcited by 32
  25. 2024Baking Gaussian Splatting into Diffusion Denoiser for Fast and Scalable Single-stage Image-to-3D Generation and Reconstructioncited by 32
  26. 2024Gaussian Splatting on the Move: Blur and Rolling Shutter Compensation for Natural Camera Motioncited by 29
  27. 2025What Is The Best 3D Scene Representation for Robotics? From Geometric to Foundation Modelscited by 29
  28. 2025CityGS-X: A Scalable Architecture for Efficient and Geometrically Accurate Large-Scale Scene Reconstructioncited by 26
  29. 2024LM-Gaussian: Boost Sparse-view 3D Gaussian Splatting with Large Model Priorscited by 25
  30. 2024Compact 3D Gaussian Splatting For Dense Visual SLAMcited by 24
  31. 2025Lifting by Gaussians: A Simple, Fast and Flexible Method for 3D Instance Segmentationcited by 23
  32. 2025Embodied AI: From LLMs to World Modelscited by 23
  33. 2024MM3DGS SLAM: Multi-modal 3D Gaussian Splatting for SLAM Using Vision, Depth, and Inertial Measurementscited by 22
  34. 2024MG-SLAM: Structure Gaussian Splatting SLAM with Manhattan World Hypothesiscited by 22
  35. 2024Event3DGS: Event-Based 3D Gaussian Splatting for High-Speed Robot Egomotioncited by 22
  36. 2024Beyond Gaussians: Fast and High-Fidelity 3D Splatting with Linear Kernelscited by 22
  37. 2025Outdoor Monocular SLAM with Global Scale-Consistent 3D Gaussian Pointmapscited by 21
  38. 2024BrightDreamer: Generic 3D Gaussian Generative Framework for Fast Text-to-3D Synthesiscited by 20

50 most cited of 278 All 278 (JSON)