mlsanityData to 7 Oct 2026

SGS-SLAM: Semantic Gaussian Splatting For Neural Dense SLAM

arXiv 2402.03246 ↗First posted 5 Feb 2024cs.CV cs.AI cs.ROcited by 86

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Abstract (arXiv)

We present SGS-SLAM, the first semantic visual SLAM system based on Gaussian Splatting. It incorporates appearance, geometry, and semantic features through multi-channel optimization, addressing the oversmoothing limitations of neural implicit SLAM systems in high-quality rendering, scene understanding, and object-level geometry. We introduce a unique semantic feature loss that effectively compensates for the shortcomings of traditional depth and color losses in object optimization. Through a semantic-guided keyframe selection strategy, we prevent erroneous reconstructions caused by cumulative errors. Extensive experiments demonstrate that SGS-SLAM delivers state-of-the-art performance in camera pose estimation, map reconstruction, precise semantic segmentation, and object-level geometric accuracy, while ensuring real-time rendering capabilities.

Key facts. Cited by 86 papers in the map (data through 7 Oct 2026). Builds on 35 of its 57 references that are in the map. First posted on arXiv 5 Feb 2024.

Builds on

35 of 57 references.

References · 35

  1. 20233D Gaussian Splatting for Real-Time Radiance Field Renderingcited by 6,141
  2. 2022Instant Neural Graphics Primitives with a Multiresolution Hash Encodingcited by 3,698
  3. 2017ScanNet: Richly-annotated 3D Reconstructions of Indoor Scenescited by 3,088
  4. 2015ORB-SLAM: a Versatile and Accurate Monocular SLAM Systemcited by 983
  5. 2019The Replica Dataset: A Digital Replica of Indoor Spacescited by 885
  6. 2020ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAMcited by 862
  7. 2023ScanNet++: A High-Fidelity Dataset of 3D Indoor Scenescited by 747
  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. 2017VINS-Mono: A Robust and Versatile Monocular Visual-Inertial State Estimatorcited by 418
23 more
  1. 2023Gaussian Splatting SLAMcited by 410
  2. 2023Gaussian Grouping: Segment and Edit Anything in 3D Scenescited by 387
  3. 2023SplaTAM: Splat, Track & Map 3D Gaussians for Dense RGB-D SLAMcited by 386
  4. 2023GS-SLAM: Dense Visual SLAM with 3D Gaussian Splattingcited by 278
  5. 2023Co-SLAM: Joint Coordinate and Sparse Parametric Encodings for Neural Real-Time SLAMcited by 183
  6. 2019Kimera: an Open-Source Library for Real-Time Metric-Semantic Localization and Mappingcited by 181
  7. 2023Point-SLAM: Dense Neural Point Cloud-based SLAMcited by 160
  8. 2022ESLAM: Efficient Dense SLAM System Based on Hybrid Representation of Signed Distance Fieldscited by 158
  9. 2023Gaussian-SLAM: Photo-realistic Dense SLAM with Gaussian Splattingcited by 152
  10. 2018CodeSLAM - Learning a Compact, Optimisable Representation for Dense Visual SLAMcited by 151
  11. 2022Vox-Fusion: Dense Tracking and Mapping with Voxel-based Neural Implicit Representationcited by 149
  12. 2023Photo-SLAM: Real-time Simultaneous Localization and Photorealistic Mapping for Monocular, Stereo, and RGB-D Camerascited by 139
  13. 2023GO-SLAM: Global Optimization for Consistent 3D Instant Reconstructioncited by 132
  14. 2018Fusion++: Volumetric Object-Level SLAMcited by 97
  15. 2019PanopticFusion: Online Volumetric Semantic Mapping at the Level of Stuff and Thingscited by 97
  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. 2023SNI-SLAM: Semantic Neural Implicit SLAMcited by 64
  19. 2023PLGSLAM: Progressive Neural Scene Represenation with Local to Global Bundle Adjustmentcited by 62
  20. 2020NodeSLAM: Neural Object Descriptors for Multi-View Shape Reconstructioncited by 61
  21. 2023Neural Implicit Dense Semantic SLAMcited by 26
  22. 2023DNS SLAM: Dense Neural Semantic-Informed SLAMcited by 23
  23. 2023PLVS: A SLAM System with Points, Lines, Volumetric Mapping, and 3D Incremental Segmentationcited by 3

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2024: 28; 2025: 38; 2026: 20.

86 papers.

Sort:

  1. 2024Recent Advances in 3D Gaussian Splattingcited by 130
  2. 2024RadSplat: Radiance Field-Informed Gaussian Splatting for Robust Real-Time Rendering with 900+ FPScited by 110
  3. 20243D Gaussian Splatting: Survey, Technologies, Challenges, and Opportunitiescited by 77
  4. 2024How NeRFs and 3D Gaussian Splatting are Reshaping SLAM: a Surveycited by 72
  5. 2025WildGS-SLAM: Monocular Gaussian Splatting SLAM in Dynamic Environmentscited by 48
  6. 2024EmbodiedOcc: Embodied 3D Occupancy Prediction for Vision-based Online Scene Understandingcited by 43
  7. 2024SemGauss-SLAM: Dense Semantic Gaussian Splatting SLAMcited by 41
  8. 2024WaterSplatting: Fast Underwater 3D Scene Reconstruction Using Gaussian Splattingcited by 39
  9. 2024NeSLAM: Neural Implicit Mapping and Self-Supervised Feature Tracking With Depth Completion and Denoisingcited by 29
  10. 2025What Is The Best 3D Scene Representation for Robotics? From Geometric to Foundation Modelscited by 29
  11. 2024Compact 3D Gaussian Splatting For Dense Visual SLAMcited by 24
  12. 2024HI-SLAM2: Geometry-Aware Gaussian SLAM for Fast Monocular Scene Reconstructioncited by 24
38 more
  1. 2024MG-SLAM: Structure Gaussian Splatting SLAM with Manhattan World Hypothesiscited by 22
  2. 2024Beyond Gaussians: Fast and High-Fidelity 3D Splatting with Linear Kernelscited by 22
  3. 2024Neural Fields in Robotics: A Surveycited by 21
  4. 2024Neural Radiance Field in Autonomous Driving: A Surveycited by 19
  5. 2025A Survey on 3D Gaussian Splatting Applications: Segmentation, Editing, and Generationcited by 19
  6. 2025RealX3D: A Physically-Degraded 3D Benchmark for Multi-view Visual Restoration and Reconstructioncited by 19
  7. 2024NEDS-SLAM: A Neural Explicit Dense Semantic SLAM Framework using 3D Gaussian Splattingcited by 16
  8. 20243DGS-ReLoc: 3D Gaussian Splatting for Map Representation and Visual ReLocalizationcited by 15
  9. 2024Incremental Joint Learning of Depth, Pose and Implicit Scene Representation on Monocular Camera in Large-scale Scenescited by 15
  10. 2024Hier-SLAM: Scaling-up Semantics in SLAM with a Hierarchically Categorical Gaussian Splattingcited by 15
  11. 2025DenseSplat: Densifying Gaussian Splatting SLAM with Neural Radiance Priorcited by 14
  12. 2024GlossyGS: Inverse Rendering of Glossy Objects with 3D Gaussian Splattingcited by 13
  13. 2024Reference-based Controllable Scene Stylization with Gaussian Splattingcited by 12
  14. 2025VPGS-SLAM: Voxel-based Progressive 3D Gaussian SLAM in Large-Scale Scenescited by 12
  15. 2024Open-Vocabulary Online Semantic Mapping for SLAMcited by 11
  16. 2025SEGS-SLAM: Structure-enhanced 3D Gaussian Splatting SLAM with Appearance Embeddingcited by 11
  17. 2025OpenGS-SLAM: Open-Set Dense Semantic SLAM with 3D Gaussian Splatting for Object-Level Scene Understandingcited by 11
  18. 2025MCN-SLAM: Multi-Agent Collaborative Neural SLAM with Hybrid Implicit Neural Scene Representationcited by 11
  19. 2026NTIRE 2026 3D Restoration and Reconstruction in Real-world Adverse Conditions: RealX3D Challenge Resultscited by 11
  20. 2025Online Language Splattingcited by 10
  21. 2025Ov3R: Open-Vocabulary Semantic 3D Reconstruction from RGB Videoscited by 10
  22. 2024Multi-Modal UAV Detection, Classification and Tracking Algorithm -- Technical Report for CVPR 2024 UG2 Challengecited by 9
  23. 2025VTGaussian-SLAM: RGBD SLAM for Large Scale Scenes with Splatting View-Tied 3D Gaussianscited by 8
  24. 2026Unifying Color and Lightness Correction with View-Adaptive Curve Adjustment for Robust 3D Novel View Synthesiscited by 8
  25. 2026CLIP-Guided Data Augmentation for Night-Time Image Dehazingcited by 8
  26. 2025Journey into Automation: Image-Derived Pavement Texture Extraction and Evaluationcited by 7
  27. 2025Digital Twin Generation from Visual Data: A Surveycited by 7
  28. 2025Plenodium: UnderWater 3D Scene Reconstruction with Plenoptic Medium Representationcited by 7
  29. 2026Dual-Branch Remote Sensing Infrared Image Super-Resolutioncited by 7
  30. 2024RGBDS-SLAM: A RGB-D Semantic Dense SLAM Based on 3D Multi Level Pyramid Gaussian Splattingcited by 6
  31. 2025These Magic Moments: Differentiable Uncertainty Quantification of Radiance Field Modelscited by 6
  32. 2025LLGS: Unsupervised Gaussian Splatting for Image Enhancement and Reconstruction in Pure Dark Environmentcited by 6
  33. 2025GRS-SLAM3R: Real-Time Dense SLAM with Gated Recurrent Statecited by 6
  34. 2025VIGS-SLAM: Visual Inertial Gaussian Splatting SLAMcited by 6
  35. 2026Training-Free Model Ensemble for Single-Image Super-Resolution via Strong-Branch Compensationcited by 6
  36. 2024GaRField++: Reinforced Gaussian Radiance Fields for Large-Scale 3D Scene Reconstructioncited by 5
  37. 2025Understanding while Exploring: Semantics-driven Active Mappingcited by 5
  38. 2025OpenGS-Fusion: Open-Vocabulary Dense Mapping with Hybrid 3D Gaussian Splatting for Refined Object-Level Understandingcited by 5

50 most cited of 86 All 86 (JSON)