# DQO-MAP: Dual Quadrics Multi-Object mapping with Gaussian Splatting

arXiv: https://arxiv.org/abs/2503.02223 · HTML: https://mlsanity.com/paper/2503.02223/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 17 of its 21 references that are in the map.
- First posted on arXiv 4 Mar 2025.

## Builds on (most cited first, 17 of 17)

- [3D Gaussian Splatting for Real-Time Radiance Field Rendering](https://mlsanity.com/paper/2308.04079/) (2023)
- [AI2-THOR: An Interactive 3D Environment for Visual AI](https://mlsanity.com/paper/1712.05474/) (2017)
- [ORB-SLAM2: an Open-Source SLAM System for Monocular, Stereo and RGB-D Cameras](https://mlsanity.com/paper/1610.06475/) (2016)
- [Mip-Splatting: Alias-free 3D Gaussian Splatting](https://mlsanity.com/paper/2311.16493/) (2023)
- [YOLOv10: Real-Time End-to-End Object Detection](https://mlsanity.com/paper/2405.14458/) (2024)
- [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)
- [CubeSLAM: Monocular 3D Object SLAM](https://mlsanity.com/paper/1806.00557/) (2018)
- [Fusion++: Volumetric Object-Level SLAM](https://mlsanity.com/paper/1808.08378/) (2018)
- [MaskFusion: Real-Time Recognition, Tracking and Reconstruction of Multiple Moving Objects](https://mlsanity.com/paper/1804.09194/) (2018)
- [QuadricSLAM: Dual Quadrics from Object Detections as Landmarks in Object-oriented SLAM](https://mlsanity.com/paper/1804.04011/) (2018)
- [vMAP: Vectorised Object Mapping for Neural Field SLAM](https://mlsanity.com/paper/2302.01838/) (2023)
- [GSFusion: Online RGB-D Mapping Where Gaussian Splatting Meets TSDF Fusion](https://mlsanity.com/paper/2408.12677/) (2024)
- [SiLVR: Scalable Lidar-Visual Reconstruction with Neural Radiance Fields for Robotic Inspection](https://mlsanity.com/paper/2403.06877/) (2024)
- [RTG-SLAM: Real-time 3D Reconstruction at Scale using Gaussian Splatting](https://mlsanity.com/paper/2404.19706/) (2024)
- [RO-MAP: Real-Time Multi-Object Mapping with Neural Radiance Fields](https://mlsanity.com/paper/2304.05735/) (2023)
- [VOOM: Robust Visual Object Odometry and Mapping using Hierarchical Landmarks](https://mlsanity.com/paper/2402.13609/) (2024)

## Abstract (arXiv)

Accurate object perception is essential for robotic applications such as object navigation. In this paper, we propose DQO-MAP, a novel object-SLAM system that seamlessly integrates object pose estimation and reconstruction. We employ 3D Gaussian Splatting for high-fidelity object reconstruction and leverage quadrics for precise object pose estimation. Both of them management is handled on the CPU, while optimization is performed on the GPU, significantly improving system efficiency. By associating objects with unique IDs, our system enables rapid object extraction from the scene. Extensive experimental results on object reconstruction and pose estimation demonstrate that DQO-MAP achieves outstanding performance in terms of precision, reconstruction quality, and computational efficiency. The code and dataset are available at: https://github.com/LiHaoy-ux/DQO-MAP.