mlsanityData to 14 Oct 2026

DROID-Splat: Combining end-to-end SLAM with 3D Gaussian Splatting

arXiv 2411.17660 ↗First posted 26 Nov 2024cs.CVcited by 15

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Abstract (arXiv)

Recent progress in scene synthesis makes standalone SLAM systems purely based on optimizing hyperprimitives with a Rendering objective possible. However, the tracking performance still lacks behind traditional and end-to-end SLAM systems. An optimal trade-off between robustness, speed and accuracy has not yet been reached, especially for monocular video. In this paper, we introduce a SLAM system based on an end-to-end Tracker and extend it with a Renderer based on recent 3D Gaussian Splatting techniques. Our framework DroidSplat achieves both SotA tracking and rendering results on common SLAM benchmarks. We implemented multiple building blocks of modern SLAM systems to run in parallel, allowing for fast inference on common consumer GPU's. Recent progress in monocular depth prediction and camera calibration allows our system to achieve strong results even on in-the-wild data without known camera intrinsics. Code will be available at urlhttps://github.com/ChenHoy/DROID-Splat.

Key facts. Cited by 15 papers in the map (data through 14 Oct 2026). Builds on 51 of its 68 references that are in the map. First posted on arXiv 26 Nov 2024.

Builds on

51 of 68 references.

References · 51

  1. 2018The Unreasonable Effectiveness of Deep Features as a Perceptual Metriccited by 11,177
  2. 20233D Gaussian Splatting for Real-Time Radiance Field Renderingcited by 6,226
  3. 2022Instant Neural Graphics Primitives with a Multiresolution Hash Encodingcited by 3,723
  4. 2017ScanNet: Richly-annotated 3D Reconstructions of Indoor Scenescited by 3,117
  5. 2020RAFT: Recurrent All-Pairs Field Transforms for Optical Flowcited by 2,415
  6. 2024Depth Anything: Unleashing the Power of Large-Scale Unlabeled Datacited by 1,360
  7. 20242D Gaussian Splatting for Geometrically Accurate Radiance Fieldscited by 1,076
  8. 2015ORB-SLAM: a Versatile and Accurate Monocular SLAM Systemcited by 988
  9. 2019The Replica Dataset: A Digital Replica of Indoor Spacescited by 904
  10. 2020ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAMcited by 878
  11. 2021DROID-SLAM: Deep Visual SLAM for Monocular, Stereo, and RGB-D Camerascited by 687
  12. 2023Mip-Splatting: Alias-free 3D Gaussian Splattingcited by 667
38 more
  1. 2023ZoeDepth: Zero-shot Transfer by Combining Relative and Metric Depthcited by 657
  2. 2021NICE-SLAM: Neural Implicit Scalable Encoding for SLAMcited by 589
  3. 2016Direct Sparse Odometrycited by 485
  4. 2023Gaussian Splatting SLAMcited by 415
  5. 2023SplaTAM: Splat, Track & Map 3D Gaussians for Dense RGB-D SLAMcited by 388
  6. 2024The Faiss librarycited by 376
  7. 2023Metric3D: Towards Zero-shot Metric 3D Prediction from A Single Imagecited by 365
  8. 2023GS-SLAM: Dense Visual SLAM with 3D Gaussian Splattingcited by 278
  9. 2024Gaussian Opacity Fields: Efficient Adaptive Surface Reconstruction in Unbounded Scenescited by 232
  10. 20243D Gaussian Splatting as Markov Chain Monte Carlocited by 217
  11. 2023Robust Dynamic Radiance Fieldscited by 194
  12. 2022Deep Patch Visual Odometrycited by 190
  13. 2022NeRF-SLAM: Real-Time Dense Monocular SLAM with Neural Radiance Fieldscited by 188
  14. 2024Lotus: Diffusion-based Visual Foundation Model for High-quality Dense Predictioncited by 166
  15. 2023NICER-SLAM: Neural Implicit Scene Encoding for RGB SLAMcited by 164
  16. 2023Point-SLAM: Dense Neural Point Cloud-based SLAMcited by 160
  17. 2023Gaussian-SLAM: Photo-realistic Dense SLAM with Gaussian Splattingcited by 154
  18. 2022Vox-Fusion: Dense Tracking and Mapping with Voxel-based Neural Implicit Representationcited by 149
  19. 2023Photo-SLAM: Real-time Simultaneous Localization and Photorealistic Mapping for Monocular, Stereo, and RGB-D Camerascited by 141
  20. 2024DN-Splatter: Depth and Normal Priors for Gaussian Splatting and Meshingcited by 138
  21. 2023SparseGS: Sparse View Synthesis using 3D Gaussian Splattingcited by 134
  22. 2023GO-SLAM: Global Optimization for Consistent 3D Instant Reconstructioncited by 133
  23. 2016BundleFusion: Real-time Globally Consistent 3D Reconstruction using On-the-fly Surface Re-integrationcited by 116
  24. 2024Pixel-GS: Density Control with Pixel-aware Gradient for 3D Gaussian Splattingcited by 113
  25. 2023EigenPlaces: Training Viewpoint Robust Models for Visual Place Recognitioncited by 111
  26. 2024How NeRFs and 3D Gaussian Splatting are Reshaping SLAM: a Surveycited by 72
  27. 2024Deep Patch Visual SLAMcited by 71
  28. 2024Splat-SLAM: Globally Optimized RGB-only SLAM with 3D Gaussianscited by 66
  29. 2024LoopSplat: Loop Closure by Registering 3D Gaussian Splatscited by 60
  30. 2018LDSO: Direct Sparse Odometry with Loop Closurecited by 51
  31. 2024Loopy-SLAM: Dense Neural SLAM with Loop Closurescited by 48
  32. 2023R3D3: Dense 3D Reconstruction of Dynamic Scenes from Multiple Camerascited by 39
  33. 2024GlORIE-SLAM: Globally Optimized RGB-only Implicit Encoding Point Cloud SLAMcited by 36
  34. 2024GeoLRM: Geometry-Aware Large Reconstruction Model for High-Quality 3D Gaussian Generationcited by 36
  35. 2023HI-SLAM: Monocular Real-time Dense Mapping with Hybrid Implicit Fieldscited by 31
  36. 2024MVGS: Multi-view Regulated Gaussian Splatting for Novel View Synthesiscited by 20
  37. 2024MoD-SLAM: Monocular Dense Mapping for Unbounded 3D Scene Reconstructioncited by 18
  38. 2024High-Fidelity SLAM Using Gaussian Splatting with Rendering-Guided Densification and Regularized Optimizationcited by 15

50 most cited of 51 All 51 (JSON)

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2025: 7; 2026: 8.

15 papers.

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  1. 2025On-the-fly Reconstruction for Large-Scale Novel View Synthesis from Unposed Imagescited by 36
  2. 2025GauS-SLAM: Dense RGB-D SLAM with Gaussian Surfelscited by 6
  3. 2025Gaussian On-the-Fly Splatting: A Progressive Framework for Robust Near Real-Time 3DGS Optimizationcited by 4
  4. 2025On-the-fly Large-scale 3D Reconstruction from Multi-Camera Rigscited by 3
  5. 2025MCGS-SLAM: A Multi-Camera SLAM Framework Using Gaussian Splatting for High-Fidelity Mappingcited by 2
  6. 2026Towards Next-Generation SLAM: A Survey on 3DGS-SLAM Focusing on Performance, Robustness, and Future Directionscited by 2
  7. 2026FreeOcc: Training-Free Embodied Open-Vocabulary Occupancy Predictioncited by 2
  8. 2026Immediate 3D Gaussian Splat Reconstruction of Unordered Input with Global Consistencycited by 2
  9. 2025AgriGS-SLAM: Orchard Mapping Across Seasons via Multi-View Gaussian Splatting SLAMcited by 1
  10. 2026SCE-SLAM: Scale-Consistent Monocular SLAM via Scene Coordinate Embeddingscited by 1
  11. 2026Dense Dynamic Scene Reconstruction and Camera Pose Estimation from Multi-View Videoscited by 1
  12. 2026Spectral Defense Against Resource-Targeting Attack in 3D Gaussian Splattingcited by 1
3 more
  1. 2025ConfidentSplat: Confidence-Weighted Depth Fusion for Accurate 3D Gaussian Splatting SLAMcited by 0
  2. 2026Robust and Efficient Monocular 3D Gaussian SLAM for Kilometer-Scale Outdoor Scenescited by 0
  3. 2026VGGT-GS SLAM: Uncalibrated Monocular Gaussian Splatting SLAM with Feed-Forward Priorscited by 0