# MUTE-SLAM: Real-Time Neural SLAM with Multiple Tri-Plane Hash Representations

arXiv: https://arxiv.org/abs/2403.17765 · HTML: https://mlsanity.com/paper/2403.17765/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 29 of its 41 references that are in the map.
- First posted on arXiv 26 Mar 2024.

## Builds on (most cited first, 29 of 29)

- [Instant Neural Graphics Primitives with a Multiresolution Hash Encoding](https://mlsanity.com/paper/2201.05989/) (2022)
- [ScanNet: Richly-annotated 3D Reconstructions of Indoor Scenes](https://mlsanity.com/paper/1702.04405/) (2017)
- [Mip-NeRF 360: Unbounded Anti-Aliased Neural Radiance Fields](https://mlsanity.com/paper/2111.12077/) (2021)
- [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)
- [The Replica Dataset: A Digital Replica of Indoor Spaces](https://mlsanity.com/paper/1906.05797/) (2019)
- [ORB-SLAM2: an Open-Source SLAM System for Monocular, Stereo and RGB-D Cameras](https://mlsanity.com/paper/1610.06475/) (2016)
- [DROID-SLAM: Deep Visual SLAM for Monocular, Stereo, and RGB-D Cameras](https://mlsanity.com/paper/2108.10869/) (2021)
- [Zip-NeRF: Anti-Aliased Grid-Based Neural Radiance Fields](https://mlsanity.com/paper/2304.06706/) (2023)
- [NICE-SLAM: Neural Implicit Scalable Encoding for SLAM](https://mlsanity.com/paper/2112.12130/) (2021)
- [iMAP: Implicit Mapping and Positioning in Real-Time](https://mlsanity.com/paper/2103.12352/) (2021)
- [Neuralangelo: High-Fidelity Neural Surface Reconstruction](https://mlsanity.com/paper/2306.03092/) (2023)
- [Neural RGB-D Surface Reconstruction](https://mlsanity.com/paper/2104.04532/) (2021)
- [StyleSDF: High-Resolution 3D-Consistent Image and Geometry Generation](https://mlsanity.com/paper/2112.11427/) (2021)
- [Co-SLAM: Joint Coordinate and Sparse Parametric Encodings for Neural Real-Time SLAM](https://mlsanity.com/paper/2304.14377/) (2023)
- [Point-SLAM: Dense Neural Point Cloud-based SLAM](https://mlsanity.com/paper/2304.04278/) (2023)
- [ESLAM: Efficient Dense SLAM System Based on Hybrid Representation of Signed Distance Fields](https://mlsanity.com/paper/2211.11704/) (2022)
- [CodeSLAM - Learning a Compact, Optimisable Representation for Dense Visual SLAM](https://mlsanity.com/paper/1804.00874/) (2018)
- [Vox-Fusion: Dense Tracking and Mapping with Voxel-based Neural Implicit Representation](https://mlsanity.com/paper/2210.15858/) (2022)
- [GO-SLAM: Global Optimization for Consistent 3D Instant Reconstruction](https://mlsanity.com/paper/2309.02436/) (2023)
- [F2-NeRF: Fast Neural Radiance Field Training with Free Camera Trajectories](https://mlsanity.com/paper/2303.15951/) (2023)
- [BundleFusion: Real-time Globally Consistent 3D Reconstruction using On-the-fly Surface Re-integration](https://mlsanity.com/paper/1604.01093/) (2016)
- [Efficient Region-Aware Neural Radiance Fields for High-Fidelity Talking Portrait Synthesis](https://mlsanity.com/paper/2307.09323/) (2023)
- [DI-Fusion: Online Implicit 3D Reconstruction with Deep Priors](https://mlsanity.com/paper/2012.05551/) (2020)
- [OTAvatar: One-shot Talking Face Avatar with Controllable Tri-plane Rendering](https://mlsanity.com/paper/2303.14662/) (2023)
- [PLGSLAM: Progressive Neural Scene Represenation with Local to Global Bundle Adjustment](https://mlsanity.com/paper/2312.09866/) (2023)
- [GO-Surf: Neural Feature Grid Optimization for Fast, High-Fidelity RGB-D Surface Reconstruction](https://mlsanity.com/paper/2206.14735/) (2022)
- [H2-Mapping: Real-time Dense Mapping Using Hierarchical Hybrid Representation](https://mlsanity.com/paper/2306.03207/) (2023)
- [Anti-Aliased Neural Implicit Surfaces with Encoding Level of Detail](https://mlsanity.com/paper/2309.10336/) (2023)

## Abstract (arXiv)

We introduce MUTE-SLAM, a real-time neural RGB-D SLAM system employing multiple tri-plane hash-encodings for efficient scene representation. MUTE-SLAM effectively tracks camera positions and incrementally builds a scalable multi-map representation for both small and large indoor environments. As previous methods often require pre-defined scene boundaries, MUTE-SLAM dynamically allocates sub-maps for newly observed local regions, enabling constraint-free mapping without prior scene information. Unlike traditional grid-based methods, we use three orthogonal axis-aligned planes for hash-encoding scene properties, significantly reducing hash collisions and the number of trainable parameters. This hybrid approach not only ensures real-time performance but also enhances the fidelity of surface reconstruction. Furthermore, our optimization strategy concurrently optimizes all sub-maps intersecting with the current camera frustum, ensuring global consistency. Extensive testing on both real-world and synthetic datasets has shown that MUTE-SLAM delivers state-of-the-art surface reconstruction quality and competitive tracking performance across diverse indoor settings. The code is available at https://github.com/lumennYan/MUTE_SLAM.