# MotionGS : Compact Gaussian Splatting SLAM by Motion Filter

arXiv: https://arxiv.org/abs/2405.11129 · HTML: https://mlsanity.com/paper/2405.11129/

## Key facts

- Cited by 7 papers in the map (data through 14 Oct 2026).
- Builds on 28 of its 43 references that are in the map.
- First posted on arXiv 18 May 2024.

## Builds on (most cited first, 28 of 28)

- [3D Gaussian Splatting for Real-Time Radiance Field Rendering](https://mlsanity.com/paper/2308.04079/) (2023)
- [Estimating or Propagating Gradients Through Stochastic Neurons for Conditional Computation](https://mlsanity.com/paper/1308.3432/) (2013)
- [Plenoxels: Radiance Fields without Neural Networks](https://mlsanity.com/paper/2112.05131/) (2021)
- [Direct Voxel Grid Optimization: Super-fast Convergence for Radiance Fields Reconstruction](https://mlsanity.com/paper/2111.11215/) (2021)
- [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)
- [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)
- [iMAP: Implicit Mapping and Positioning in Real-Time](https://mlsanity.com/paper/2103.12352/) (2021)
- [Gaussian Splatting SLAM](https://mlsanity.com/paper/2312.06741/) (2023)
- [SplaTAM: Splat, Track & Map 3D Gaussians for Dense RGB-D SLAM](https://mlsanity.com/paper/2312.02126/) (2023)
- [Compact 3D Gaussian Representation for Radiance Field](https://mlsanity.com/paper/2311.13681/) (2023)
- [GS-SLAM: Dense Visual SLAM with 3D Gaussian Splatting](https://mlsanity.com/paper/2311.11700/) (2023)
- [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)
- [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)
- [Gaussian-SLAM: Photo-realistic Dense SLAM with Gaussian Splatting](https://mlsanity.com/paper/2312.10070/) (2023)
- [Vox-Fusion: Dense Tracking and Mapping with Voxel-based Neural Implicit Representation](https://mlsanity.com/paper/2210.15858/) (2022)
- [Photo-SLAM: Real-time Simultaneous Localization and Photorealistic Mapping for Monocular, Stereo, and RGB-D Cameras](https://mlsanity.com/paper/2311.16728/) (2023)
- [GO-SLAM: Global Optimization for Consistent 3D Instant Reconstruction](https://mlsanity.com/paper/2309.02436/) (2023)
- [A micro Lie theory for state estimation in robotics](https://mlsanity.com/paper/1812.01537/) (2018)
- [RGBD GS-ICP SLAM](https://mlsanity.com/paper/2403.12550/) (2024)
- [HI-SLAM: Monocular Real-time Dense Mapping with Hybrid Implicit Fields](https://mlsanity.com/paper/2310.04787/) (2023)
- [SurfelMeshing: Online Surfel-Based Mesh Reconstruction](https://mlsanity.com/paper/1810.00729/) (2018)
- [Real-time Scalable Dense Surfel Mapping](https://mlsanity.com/paper/1909.04250/) (2019)
- [OVPC Mesh: 3D Free-space Representation for Local Ground Vehicle Navigation](https://mlsanity.com/paper/1811.10266/) (2018)

## Built on by (most cited first, 7 of 7)

- [3D Gaussian Splatting: Survey, Technologies, Challenges, and Opportunities](https://mlsanity.com/paper/2407.17418/) (2024)
- [RGB-Only Gaussian Splatting SLAM for Unbounded Outdoor Scenes](https://mlsanity.com/paper/2502.15633/) (2025)
- [Online Language Splatting](https://mlsanity.com/paper/2503.09447/) (2025)
- [GS-LIVO: Real-Time LiDAR, Inertial, and Visual Multi-sensor Fused Odometry with Gaussian Mapping](https://mlsanity.com/paper/2501.08672/) (2025)
- [SING3R-SLAM: Submap-based Indoor Monocular Gaussian SLAM with 3D Reconstruction Priors](https://mlsanity.com/paper/2511.17207/) (2025)
- [Towards Next-Generation SLAM: A Survey on 3DGS-SLAM Focusing on Performance, Robustness, and Future Directions](https://mlsanity.com/paper/2602.04251/) (2026)
- [TVG-SLAM: Robust Gaussian Splatting SLAM with Tri-view Geometric Constraints](https://mlsanity.com/paper/2506.23207/) (2025)

## Abstract (arXiv)

With their high-fidelity scene representation capability, the attention of SLAM field is deeply attracted by the Neural Radiation Field (NeRF) and 3D Gaussian Splatting (3DGS). Recently, there has been a surge in NeRF-based SLAM, while 3DGS-based SLAM is sparse. A novel 3DGS-based SLAM approach with a fusion of deep visual feature, dual keyframe selection and 3DGS is presented in this paper. Compared with the existing methods, the proposed tracking is achieved by feature extraction and motion filter on each frame. The joint optimization of poses and 3D Gaussians runs through the entire mapping process. Additionally, the coarse-to-fine pose estimation and compact Gaussian scene representation are implemented by dual keyframe selection and novel loss functions. Experimental results demonstrate that the proposed algorithm not only outperforms the existing methods in tracking and mapping, but also has less memory usage.