mlsanityData to 14 Oct 2026

LoopSplat: Loop Closure by Registering 3D Gaussian Splats

arXiv 2408.10154 ↗First posted 19 Aug 2024cs.CV cs.ROcited by 60

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Abstract (arXiv)

Simultaneous Localization and Mapping (SLAM) based on 3D Gaussian Splats (3DGS) has recently shown promise towards more accurate, dense 3D scene maps. However, existing 3DGS-based methods fail to address the global consistency of the scene via loop closure and/or global bundle adjustment. To this end, we propose LoopSplat, which takes RGB-D images as input and performs dense mapping with 3DGS submaps and frame-to-model tracking. LoopSplat triggers loop closure online and computes relative loop edge constraints between submaps directly via 3DGS registration, leading to improvements in efficiency and accuracy over traditional global-to-local point cloud registration. It uses a robust pose graph optimization formulation and rigidly aligns the submaps to achieve global consistency. Evaluation on the synthetic Replica and real-world TUM-RGBD, ScanNet, and ScanNet++ datasets demonstrates competitive or superior tracking, mapping, and rendering compared to existing methods for dense RGB-D SLAM. Code is available at loopsplat.github.io.

Key facts. Cited by 60 papers in the map (data through 14 Oct 2026). Builds on 57 of its 98 references that are in the map. First posted on arXiv 19 Aug 2024.

Builds on

57 of 98 references.

References · 57

  1. 2017Attention Is All You Needcited by 60,361
  2. 2018The Unreasonable Effectiveness of Deep Features as a Perceptual Metriccited by 11,177
  3. 20233D Gaussian Splatting for Real-Time Radiance Field Renderingcited by 6,226
  4. 2017ScanNet: Richly-annotated 3D Reconstructions of Indoor Scenescited by 3,117
  5. 20242D Gaussian Splatting for Geometrically Accurate Radiance Fieldscited by 1,076
  6. 2020Neural Sparse Voxel Fieldscited by 959
  7. 2015NetVLAD: CNN architecture for weakly supervised place recognitioncited by 941
  8. 2019The Replica Dataset: A Digital Replica of Indoor Spacescited by 904
  9. 2020ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAMcited by 878
  10. 2016ORB-SLAM2: an Open-Source SLAM System for Monocular, Stereo and RGB-D Camerascited by 806
  11. 2023ScanNet++: A High-Fidelity Dataset of 3D Indoor Scenescited by 764
  12. 2021DROID-SLAM: Deep Visual SLAM for Monocular, Stereo, and RGB-D Camerascited by 687
38 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. 2018From Coarse to Fine: Robust Hierarchical Localization at Large Scalecited by 559
  4. 2021iMAP: Implicit Mapping and Positioning in Real-Timecited by 476
  5. 2023Gaussian Splatting SLAMcited by 415
  6. 2023SplaTAM: Splat, Track & Map 3D Gaussians for Dense RGB-D SLAMcited by 388
  7. 2020INeRF: Inverting Neural Radiance Fields for Pose Estimationcited by 382
  8. 20163DMatch: Learning Local Geometric Descriptors from RGB-D Reconstructionscited by 336
  9. 2020PREDATOR: Registration of 3D Point Clouds with Low Overlapcited by 290
  10. 2023GS-SLAM: Dense Visual SLAM with 3D Gaussian Splattingcited by 278
  11. 2022NeRF-SLAM: Real-Time Dense Monocular SLAM with Neural Radiance Fieldscited by 188
  12. 2023Co-SLAM: Joint Coordinate and Sparse Parametric Encodings for Neural Real-Time SLAMcited by 184
  13. 2020D3Feat: Joint Learning of Dense Detection and Description of 3D Local Featurescited by 177
  14. 2018The Perfect Match: 3D Point Cloud Matching with Smoothed Densitiescited by 169
  15. 2023Point-SLAM: Dense Neural Point Cloud-based SLAMcited by 160
  16. 2022ESLAM: Efficient Dense SLAM System Based on Hybrid Representation of Signed Distance Fieldscited by 158
  17. 2023Gaussian-SLAM: Photo-realistic Dense SLAM with Gaussian Splattingcited by 154
  18. 2016Voxblox: Incremental 3D Euclidean Signed Distance Fields for On-Board MAV Planningcited by 150
  19. 2022Vox-Fusion: Dense Tracking and Mapping with Voxel-based Neural Implicit Representationcited by 149
  20. 2023Photo-SLAM: Real-time Simultaneous Localization and Photorealistic Mapping for Monocular, Stereo, and RGB-D Camerascited by 141
  21. 2023GO-SLAM: Global Optimization for Consistent 3D Instant Reconstructioncited by 133
  22. 2016BundleFusion: Real-time Globally Consistent 3D Reconstruction using On-the-fly Surface Re-integrationcited by 116
  23. 2024RaDe-GS: Rasterizing Depth in Gaussian Splattingcited by 111
  24. 2023Neural Fields meet Explicit Geometric Representation for Inverse Rendering of Urban Scenescited by 90
  25. 2023GeoTransformer: Fast and Robust Point Cloud Registration with Geometric Transformercited by 84
  26. 2022Orbeez-SLAM: A Real-time Monocular Visual SLAM with ORB Features and NeRF-realized Mappingcited by 79
  27. 2020DI-Fusion: Online Implicit 3D Reconstruction with Deep Priorscited by 70
  28. 2024OpenNeRF: Open Set 3D Neural Scene Segmentation with Pixel-Wise Features and Rendered Novel Viewscited by 69
  29. 2021Deep Regression on Manifolds: A 3D Rotation Case Studycited by 67
  30. 2024Splat-SLAM: Globally Optimized RGB-only SLAM with 3D Gaussianscited by 66
  31. 2024Loopy-SLAM: Dense Neural SLAM with Loop Closurescited by 48
  32. 2024PIN-SLAM: LiDAR SLAM Using a Point-Based Implicit Neural Representation for Achieving Global Map Consistencycited by 42
  33. 2022nerf2nerf: Pairwise Registration of Neural Radiance Fieldscited by 39
  34. 2024GlORIE-SLAM: Globally Optimized RGB-only Implicit Encoding Point Cloud SLAMcited by 36
  35. 2023CP-SLAM: Collaborative Neural Point-based SLAM Systemcited by 32
  36. 2020A Smooth Representation of Belief over SO(3) for Deep Rotation Learning with Uncertaintycited by 30
  37. 2020Voxgraph: Globally Consistent, Volumetric Mapping using Signed Distance Function Submapscited by 26
  38. 2023MIPS-Fusion: Multi-Implicit-Submaps for Scalable and Robust Online Neural RGB-D Reconstructioncited by 24

50 most cited of 57 All 57 (JSON)

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2024: 9; 2025: 29; 2026: 22.

60 papers.

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  1. 2025WildGS-SLAM: Monocular Gaussian Splatting SLAM in Dynamic Environmentscited by 50
  2. 2025What Is The Best 3D Scene Representation for Robotics? From Geometric to Foundation Modelscited by 29
  3. 2024HI-SLAM2: Geometry-Aware Gaussian SLAM for Fast Monocular Scene Reconstructioncited by 25
  4. 2025POp-GS: Next Best View in 3D-Gaussian Splatting with P-Optimalitycited by 18
  5. 2024DROID-Splat: Combining end-to-end SLAM with 3D Gaussian Splattingcited by 15
  6. 2025DenseSplat: Densifying Gaussian Splatting SLAM with Neural Radiance Priorcited by 14
  7. 2025Rectified Point Flow: Generic Point Cloud Pose Estimationcited by 14
  8. 2025VPGS-SLAM: Voxel-based Progressive 3D Gaussian SLAM in Large-Scale Scenescited by 13
  9. 2024Modeling Uncertainty in 3D Gaussian Splatting through Continuous Semantic Splattingcited by 12
  10. 2024MAGiC-SLAM: Multi-Agent Gaussian Globally Consistent SLAMcited by 12
  11. 2025OpenGS-SLAM: Open-Set Dense Semantic SLAM with 3D Gaussian Splatting for Object-Level Scene Understandingcited by 12
  12. 2024PG-SLAM: Photo-realistic and Geometry-aware RGB-D SLAM in Dynamic Environmentscited by 11
38 more
  1. 2025MCN-SLAM: Multi-Agent Collaborative Neural SLAM with Hybrid Implicit Neural Scene Representationcited by 11
  2. 2025PINGS: Gaussian Splatting Meets Distance Fields within a Point-Based Implicit Neural Mapcited by 10
  3. 2025VTGaussian-SLAM: RGBD SLAM for Large Scale Scenes with Splatting View-Tied 3D Gaussianscited by 8
  4. 2024CaRtGS: Computational Alignment for Real-Time Gaussian Splatting SLAMcited by 7
  5. 2025SIREN: Semantic, Initialization-Free Registration of Multi-Robot Gaussian Splatting Mapscited by 7
  6. 2025Large-Scale Gaussian Splatting SLAMcited by 7
  7. 2026GaussFusion: Improving 3D Reconstruction in the Wild with A Geometry-Informed Video Generatorcited by 7
  8. 2025GauS-SLAM: Dense RGB-D SLAM with Gaussian Surfelscited by 6
  9. 2025VIGS-SLAM: Visual Inertial Gaussian Splatting SLAMcited by 6
  10. 2024PhotoReg: Photometrically Registering 3D Gaussian Splatting Modelscited by 5
  11. 2024MAC-Ego3D: Multi-Agent Gaussian Consensus for Real-Time Collaborative Ego-Motion and Photorealistic 3D Reconstructioncited by 5
  12. 2025OpenGS-Fusion: Open-Vocabulary Dense Mapping with Hybrid 3D Gaussian Splatting for Refined Object-Level Understandingcited by 5
  13. 2026FeatureSLAM: Feature-enriched 3D gaussian splatting SLAM in real timecited by 5
  14. 2026Predictive Photometric Uncertainty in Gaussian Splatting for Novel View Synthesiscited by 5
  15. 2025Splat-LOAM: Gaussian Splatting LiDAR Odometry and Mappingcited by 4
  16. 2025GRAND-SLAM: Local Optimization for Globally Consistent Large-Scale Multi-Agent Gaussian SLAMcited by 4
  17. 2024RP-SLAM: Real-time Photorealistic SLAM with Efficient 3D Gaussian Splattingcited by 3
  18. 2025Automated 3D-GS Registration and Fusion via Skeleton Alignment and Gaussian-Adaptive Featurescited by 3
  19. 2025LEGO-SLAM: Language-Embedded Gaussian Optimization SLAMcited by 3
  20. 2026VarSplat: Uncertainty-aware 3D Gaussian Splatting for Robust RGB-D SLAMcited by 3
  21. 2025MCGS-SLAM: A Multi-Camera SLAM Framework Using Gaussian Splatting for High-Fidelity Mappingcited by 2
  22. 2026Towards Next-Generation SLAM: A Survey on 3DGS-SLAM Focusing on Performance, Robustness, and Future Directionscited by 2
  23. 2025CAD-SLAM: Consistency-Aware Dynamic SLAM with Dynamic-Static Decoupled Mappingcited by 1
  24. 2025On the Geometric Accuracy of Implicit and Primitive-based Representations Derived from View Rendering Constraintscited by 1
  25. 2025Maps for Autonomous Driving: Full-process Survey and Frontierscited by 1
  26. 2025From Fields to Splats: A Cross-Domain Survey of Real-Time Neural Scene Representationscited by 1
  27. 2026PointSLAM++: Robust Dense Neural Gaussian Point Cloud-based SLAMcited by 1
  28. 2026IRIS-SLAM: Unified Geo-Instance Representations for Robust Semantic Localization and Mappingcited by 1
  29. 2026SGAD-SLAM: Splatting Gaussians at Adjusted Depth for Better Radiance Fields in RGBD SLAMcited by 1
  30. 2026GSCompleter: A Distillation-Free Plugin for Metric-Aware 3D Gaussian Splatting Completion in Secondscited by 1
  31. 2026WildPose: A Unified Framework for Robust Pose Estimation in the Wildcited by 1
  32. 2026Visual Relocalization from Sparse Views in Aliased and Low-Texture Environments via Novel View Synthesiscited by 1
  33. 2025LiLMaps: Learnable Implicit Language Mapscited by 0
  34. 2025Gaussian Alignment for Relative Camera Pose Estimation via Single-View Reconstructioncited by 0
  35. 2025Re-Activating Frozen Primitives for 3D Gaussian Splattingcited by 0
  36. 2025LVD-GS: Gaussian Splatting SLAM for Dynamic Scenes via Hierarchical Explicit-Implicit Representation Collaboration Renderingcited by 0
  37. 2025TransLocNet: Cross-Modal Attention for Aerial-Ground Vehicle Localization with Contrastive Learningcited by 0
  38. 2026Cross-Instance Gaussian Splatting Registration via Geometry-Aware Feature-Guided Alignmentcited by 0

50 most cited of 60 All 60 (JSON)