mlsanityData to 14 Oct 2026

CG-SLAM: Efficient Dense RGB-D SLAM in a Consistent Uncertainty-aware 3D Gaussian Field

arXiv 2403.16095 ↗First posted 24 Mar 2024cs.CV cs.ROcited by 61

Not on the map. Why?

Abstract (arXiv)

Recently neural radiance fields (NeRF) have been widely exploited as 3D representations for dense simultaneous localization and mapping (SLAM). Despite their notable successes in surface modeling and novel view synthesis, existing NeRF-based methods are hindered by their computationally intensive and time-consuming volume rendering pipeline. This paper presents an efficient dense RGB-D SLAM system, i.e., CG-SLAM, based on a novel uncertainty-aware 3D Gaussian field with high consistency and geometric stability. Through an in-depth analysis of Gaussian Splatting, we propose several techniques to construct a consistent and stable 3D Gaussian field suitable for tracking and mapping. Additionally, a novel depth uncertainty model is proposed to ensure the selection of valuable Gaussian primitives during optimization, thereby improving tracking efficiency and accuracy. Experiments on various datasets demonstrate that CG-SLAM achieves superior tracking and mapping performance with a notable tracking speed of up to 15 Hz. We will make our source code publicly available. Project page: https://zju3dv.github.io/cg-slam.

Key facts. Cited by 61 papers in the map (data through 14 Oct 2026). Builds on 48 of its 64 references that are in the map. First posted on arXiv 24 Mar 2024.

Builds on

48 of 64 references.

References · 48

  1. 20233D Gaussian Splatting for Real-Time Radiance Field Renderingcited by 6,226
  2. 2022Instant Neural Graphics Primitives with a Multiresolution Hash Encodingcited by 3,723
  3. 2017ScanNet: Richly-annotated 3D Reconstructions of Indoor Scenescited by 3,117
  4. 2021Mip-NeRF 360: Unbounded Anti-Aliased Neural Radiance Fieldscited by 2,032
  5. 2021Mip-NeRF: A Multiscale Representation for Anti-Aliasing Neural Radiance Fieldscited by 1,964
  6. 2021Plenoxels: Radiance Fields without Neural Networkscited by 1,613
  7. 2020pixelNeRF: Neural Radiance Fields from One or Few Imagescited by 1,584
  8. 2015NetVLAD: CNN architecture for weakly supervised place recognitioncited by 941
  9. 2019The Replica Dataset: A Digital Replica of Indoor Spacescited by 904
  10. 2020GRAF: Generative Radiance Fields for 3D-Aware Image Synthesiscited by 689
  11. 2021DROID-SLAM: Deep Visual SLAM for Monocular, Stereo, and RGB-D Camerascited by 687
  12. 2021BARF: Bundle-Adjusting Neural Radiance Fieldscited by 642
36 more
  1. 2023SuGaR: Surface-Aligned Gaussian Splatting for Efficient 3D Mesh Reconstruction and High-Quality Mesh Renderingcited by 616
  2. 2021NICE-SLAM: Neural Implicit Scalable Encoding for SLAMcited by 589
  3. 2022Point-NeRF: Point-based Neural Radiance Fieldscited by 503
  4. 2021iMAP: Implicit Mapping and Positioning in Real-Timecited by 476
  5. 2023Gaussian Grouping: Segment and Edit Anything in 3D Scenescited by 393
  6. 2023SplaTAM: Splat, Track & Map 3D Gaussians for Dense RGB-D SLAMcited by 388
  7. 2023Feature 3DGS: Supercharging 3D Gaussian Splatting to Enable Distilled Feature Fieldscited by 364
  8. 2022Fast Dynamic Radiance Fields with Time-Aware Neural Voxelscited by 346
  9. 2023GaussianEditor: Swift and Controllable 3D Editing with Gaussian Splattingcited by 335
  10. 2022Rodin: A Generative Model for Sculpting 3D Digital Avatars Using Diffusioncited by 309
  11. 2023GS-SLAM: Dense Visual SLAM with 3D Gaussian Splattingcited by 278
  12. 2022Tensor4D : Efficient Neural 4D Decomposition for High-fidelity Dynamic Reconstruction and Renderingcited by 217
  13. 2020D3VO: Deep Depth, Deep Pose and Deep Uncertainty for Monocular Visual Odometrycited by 206
  14. 2022NeRF-SLAM: Real-Time Dense Monocular SLAM with Neural Radiance Fieldscited by 188
  15. 2023Co-SLAM: Joint Coordinate and Sparse Parametric Encodings for Neural Real-Time SLAMcited by 184
  16. 2023GaussianEditor: Editing 3D Gaussians Delicately with Text Instructionscited by 168
  17. 2023Point-SLAM: Dense Neural Point Cloud-based SLAMcited by 160
  18. 2017CNN-SLAM: Real-time dense monocular SLAM with learned depth predictioncited by 152
  19. 2016Voxblox: Incremental 3D Euclidean Signed Distance Fields for On-Board MAV Planningcited by 150
  20. 2022Vox-Fusion: Dense Tracking and Mapping with Voxel-based Neural Implicit Representationcited by 149
  21. 2023NeuSG: Neural Implicit Surface Reconstruction with 3D Gaussian Splatting Guidancecited by 138
  22. 2023ASH: Animatable Gaussian Splats for Efficient and Photoreal Human Renderingcited by 104
  23. 2022Orbeez-SLAM: A Real-time Monocular Visual SLAM with ORB Features and NeRF-realized Mappingcited by 79
  24. 2023Learning Neural Volumetric Representations of Dynamic Humans in Minutescited by 70
  25. 2023GAvatar: Animatable 3D Gaussian Avatars with Implicit Mesh Learningcited by 63
  26. 2023Gaussian Shell Maps for Efficient 3D Human Generationcited by 61
  27. 2023NeO 360: Neural Fields for Sparse View Synthesis of Outdoor Scenescited by 53
  28. 2023DeformGS: Scene Flow in Highly Deformable Scenes for Deformable Object Manipulationcited by 42
  29. 2021TANDEM: Tracking and Dense Mapping in Real-time using Deep Multi-view Stereocited by 39
  30. 2023SplatArmor: Articulated Gaussian splatting for animatable humans from monocular RGB videoscited by 35
  31. 2023CP-SLAM: Collaborative Neural Point-based SLAM Systemcited by 32
  32. 2023Multi-Modal Neural Radiance Field for Monocular Dense SLAM with a Light-Weight ToF Sensorcited by 30
  33. 2022DELTAR: Depth Estimation from a Light-weight ToF Sensor and RGB Imagecited by 26
  34. 2023UncLe-SLAM: Uncertainty Learning for Dense Neural SLAMcited by 19
  35. 2023SceNeRFlow: Time-Consistent Reconstruction of General Dynamic Scenescited by 11
  36. 2023NeRF-VINS: A Real-time Neural Radiance Field Map-based Visual-Inertial Navigation Systemcited by 7

Built on by

Cited by year (2026 to 14 Oct)

Citing papers per year: 2024: 17; 2025: 28; 2026: 16.

61 papers.

Sort:

By area:

  1. 2024AbsGS: Recovering Fine Details for 3D Gaussian Splattingcited by 82
  2. 20243D Gaussian Splatting: Survey, Technologies, Challenges, and Opportunitiescited by 78
  3. 2025WildGS-SLAM: Monocular Gaussian Splatting SLAM in Dynamic Environmentscited by 50
  4. 2025CityGS-X: A Scalable Architecture for Efficient and Geometrically Accurate Large-Scale Scene Reconstructioncited by 26
  5. 2024MG-SLAM: Structure Gaussian Splatting SLAM with Manhattan World Hypothesiscited by 22
  6. 2025Outdoor Monocular SLAM with Global Scale-Consistent 3D Gaussian Pointmapscited by 22
  7. 2024Drone-assisted Road Gaussian Splatting with Cross-view Uncertaintycited by 20
  8. 2024IncEventGS: Pose-Free Gaussian Splatting from a Single Event Cameracited by 20
  9. 2026Multiplayer Interactive World Models with Representation Autoencoderscited by 19
  10. 2025RGB-Only Gaussian Splatting SLAM for Unbounded Outdoor Scenescited by 18
  11. 2024Advancing Extended Reality with 3D Gaussian Splatting: Innovations and Prospectscited by 17
  12. 2024VDG: Vision-Only Dynamic Gaussian for Driving Simulationcited by 16
38 more
  1. 2025DenseSplat: Densifying Gaussian Splatting SLAM with Neural Radiance Priorcited by 14
  2. 2024BlinkVision: A Benchmark for Optical Flow, Scene Flow and Point Tracking Estimation using RGB Frames and Eventscited by 13
  3. 2024MAGiC-SLAM: Multi-Agent Gaussian Globally Consistent SLAMcited by 12
  4. 2024CoSurfGS:Collaborative 3D Surface Gaussian Splatting with Distributed Learning for Large Scene Reconstructioncited by 11
  5. 2025SEGS-SLAM: Structure-enhanced 3D Gaussian Splatting SLAM with Appearance Embeddingcited by 11
  6. 2025GaussianUpdate: Continual 3D Gaussian Splatting Update for Changing Environmentscited by 11
  7. 2025Gaussian-Plus-SDF SLAM: High-fidelity 3D Reconstruction at 150+ fpscited by 11
  8. 2025Online Language Splattingcited by 10
  9. 2026DROID-SLAM in the Wildcited by 10
  10. 2025ARTDECO: Towards Efficient and High-Fidelity On-the-Fly 3D Reconstruction with Structured Scene Representationcited by 9
  11. 2025VTGaussian-SLAM: RGBD SLAM for Large Scale Scenes with Splatting View-Tied 3D Gaussianscited by 8
  12. 2024MGSO: Monocular Real-time Photometric SLAM with Efficient 3D Gaussian Splattingcited by 7
  13. 2025PhysGS: Bayesian-Inferred Gaussian Splatting for Physical Property Estimationcited by 7
  14. 2024ETO:Efficient Transformer-based Local Feature Matching by Organizing Multiple Homography Hypothesescited by 6
  15. 2025These Magic Moments: Differentiable Uncertainty Quantification of Radiance Field Modelscited by 6
  16. 2025GauRast: Enhancing GPU Triangle Rasterizers to Accelerate 3D Gaussian Splattingcited by 6
  17. 2025UP-SLAM: Adaptively Structured Gaussian SLAM with Uncertainty Prediction in Dynamic Environmentscited by 6
  18. 2025DINO-SLAM: DINO-informed RGB-D SLAM for Neural Implicit and Explicit Representationscited by 6
  19. 2025VIGS-SLAM: Visual Inertial Gaussian Splatting SLAMcited by 6
  20. 2025OpenGS-Fusion: Open-Vocabulary Dense Mapping with Hybrid 3D Gaussian Splatting for Refined Object-Level Understandingcited by 5
  21. 2024GSplatLoc: Ultra-Precise Camera Localization via 3D Gaussian Splattingcited by 4
  22. 2025FGS-SLAM: Fourier-based Gaussian Splatting for Real-time SLAM with Sparse and Dense Map Fusioncited by 4
  23. 2025ContraGS: Codebook-Condensed and Trainable Gaussian Splatting for Fast, Memory-Efficient Reconstructioncited by 4
  24. 2024OG-Mapping: Octree-based Structured 3D Gaussians for Online Dense Mappingcited by 3
  25. 2025On-the-fly Large-scale 3D Reconstruction from Multi-Camera Rigscited by 3
  26. 2026VarSplat: Uncertainty-aware 3D Gaussian Splatting for Robust RGB-D SLAMcited by 3
  27. 2025DNRSelect: Active Best View Selection for Deferred Neural Renderingcited by 2
  28. 2025Robust and High-Fidelity 3D Gaussian Splatting: Fusing Pose Priors and Geometry Constraints for Texture-Deficient Outdoor Scenescited by 2
  29. 2026The Semantic Lifecycle in Embodied AI: Acquisition, Representation and Storage via Foundation Modelscited by 2
  30. 2026Towards Next-Generation SLAM: A Survey on 3DGS-SLAM Focusing on Performance, Robustness, and Future Directionscited by 2
  31. 2024PH-Dropout: Practical Epistemic Uncertainty Quantification for View Synthesiscited by 1
  32. 2025S3LAM: Surfel Splatting SLAM for Geometrically Accurate Tracking and Mappingcited by 1
  33. 2025Pseudo Depth Meets Gaussian: A Feed-forward RGB SLAM Baselinecited by 1
  34. 2025Smol-GS: Compact Representations for Abstract 3D Gaussian Splattingcited by 1
  35. 2026SCE-SLAM: Scale-Consistent Monocular SLAM via Scene Coordinate Embeddingscited by 1
  36. 2026RU4D-SLAM: Reweighting Uncertainty in Gaussian Splatting SLAM for 4D Scene Reconstructioncited by 1
  37. 2026SGAD-SLAM: Splatting Gaussians at Adjusted Depth for Better Radiance Fields in RGBD SLAMcited by 1
  38. 2026DeGS: A Scalable 3DGS Architecture via Decoupled Workload Parsing and Reorganizationcited by 1

50 most cited of 61 All 61 (JSON)