mlsanityData to 14 Oct 2026

WildGS-SLAM: Monocular Gaussian Splatting SLAM in Dynamic Environments

arXiv 2504.03886 ↗First posted 4 Apr 2025cs.CV cs.ROcited by 50

Not on the map. Why?

Abstract (arXiv)

We present WildGS-SLAM, a robust and efficient monocular RGB SLAM system designed to handle dynamic environments by leveraging uncertainty-aware geometric mapping. Unlike traditional SLAM systems, which assume static scenes, our approach integrates depth and uncertainty information to enhance tracking, mapping, and rendering performance in the presence of moving objects. We introduce an uncertainty map, predicted by a shallow multi-layer perceptron and DINOv2 features, to guide dynamic object removal during both tracking and mapping. This uncertainty map enhances dense bundle adjustment and Gaussian map optimization, improving reconstruction accuracy. Our system is evaluated on multiple datasets and demonstrates artifact-free view synthesis. Results showcase WildGS-SLAM's superior performance in dynamic environments compared to state-of-the-art methods.

Key facts. Cited by 50 papers in the map (data through 14 Oct 2026). Builds on 46 of its 70 references that are in the map. First posted on arXiv 4 Apr 2025.

Builds on

46 of 70 references.

References · 46

  1. 2018The Unreasonable Effectiveness of Deep Features as a Perceptual Metriccited by 11,177
  2. 2023Segment Anythingcited by 8,234
  3. 2023DINOv2: Learning Robust Visual Features without Supervisioncited by 7,974
  4. 2017Mask R-CNNcited by 7,277
  5. 20233D Gaussian Splatting for Real-Time Radiance Field Renderingcited by 6,226
  6. 2023DUSt3R: Geometric 3D Vision Made Easycited by 1,567
  7. 2024Depth Anything: Unleashing the Power of Large-Scale Unlabeled Datacited by 1,360
  8. 2015ORB-SLAM: a Versatile and Accurate Monocular SLAM Systemcited by 988
  9. 2016ORB-SLAM2: an Open-Source SLAM System for Monocular, Stereo and RGB-D Camerascited by 806
  10. 2021DROID-SLAM: Deep Visual SLAM for Monocular, Stereo, and RGB-D Camerascited by 687
  11. 2021NICE-SLAM: Neural Implicit Scalable Encoding for SLAMcited by 589
  12. 2016Direct Sparse Odometrycited by 485
34 more
  1. 2021iMAP: Implicit Mapping and Positioning in Real-Timecited by 476
  2. 2024MonST3R: A Simple Approach for Estimating Geometry in the Presence of Motioncited by 442
  3. 2023Gaussian Splatting SLAMcited by 415
  4. 2024Metric3Dv2: A Versatile Monocular Geometric Foundation Model for Zero-shot Metric Depth and Surface Normal Estimationcited by 395
  5. 2023SplaTAM: Splat, Track & Map 3D Gaussians for Dense RGB-D SLAMcited by 388
  6. 2023GS-SLAM: Dense Visual SLAM with 3D Gaussian Splattingcited by 278
  7. 2024MegaSaM: Accurate, Fast, and Robust Structure and Motion from Casual Dynamic Videoscited by 228
  8. 2023Co-SLAM: Joint Coordinate and Sparse Parametric Encodings for Neural Real-Time SLAMcited by 184
  9. 2019ReFusion: 3D Reconstruction in Dynamic Environments for RGB-D Cameras Exploiting Residualscited by 181
  10. 2024SEA-RAFT: Simple, Efficient, Accurate RAFT for Optical Flowcited by 174
  11. 2023NICER-SLAM: Neural Implicit Scene Encoding for RGB SLAMcited by 164
  12. 2022ESLAM: Efficient Dense SLAM System Based on Hybrid Representation of Signed Distance Fieldscited by 158
  13. 2023Gaussian-SLAM: Photo-realistic Dense SLAM with Gaussian Splattingcited by 154
  14. 2024WildGaussians: 3D Gaussian Splatting in the Wildcited by 152
  15. 2023Photo-SLAM: Real-time Simultaneous Localization and Photorealistic Mapping for Monocular, Stereo, and RGB-D Camerascited by 141
  16. 2018DynaSLAM: Tracking, Mapping and Inpainting in Dynamic Scenescited by 134
  17. 2024SGS-SLAM: Semantic Gaussian Splatting For Neural Dense SLAMcited by 87
  18. 2024NeRF On-the-go: Exploiting Uncertainty for Distractor-free NeRFs in the Wildcited by 85
  19. 2024Improving 2D Feature Representations by 3D-Aware Fine-Tuningcited by 71
  20. 2024Splat-SLAM: Globally Optimized RGB-only SLAM with 3D Gaussianscited by 66
  21. 2023SNI-SLAM: Semantic Neural Implicit SLAMcited by 65
  22. 2024RGBD GS-ICP SLAMcited by 65
  23. 2024CG-SLAM: Efficient Dense RGB-D SLAM in a Consistent Uncertainty-aware 3D Gaussian Fieldcited by 61
  24. 2024LoopSplat: Loop Closure by Registering 3D Gaussian Splatscited by 60
  25. 2020FlowFusion: Dynamic Dense RGB-D SLAM Based on Optical Flowcited by 37
  26. 2024GlORIE-SLAM: Globally Optimized RGB-only Implicit Encoding Point Cloud SLAMcited by 36
  27. 2023HI-SLAM: Monocular Real-time Dense Mapping with Hybrid Implicit Fieldscited by 31
  28. 2024DG-SLAM: Robust Dynamic Gaussian Splatting SLAM with Hybrid Pose Optimizationcited by 29
  29. 2023DNS SLAM: Dense Neural Semantic-Informed SLAMcited by 23
  30. 2024RoDyn-SLAM: Robust Dynamic Dense RGB-D SLAM with Neural Radiance Fieldscited by 22
  31. 2024NIS-SLAM: Neural Implicit Semantic RGB-D SLAM for 3D Consistent Scene Understandingcited by 19
  32. 2024EgoPressure: A Dataset for Hand Pressure and Pose Estimation in Egocentric Visioncited by 19
  33. 2023DynaMoN: Motion-Aware Fast and Robust Camera Localization for Dynamic Neural Radiance Fieldscited by 17
  34. 2022MeSLAM: Memory Efficient SLAM based on Neural Fieldscited by 10

Built on by

Cited by year (2026 to 14 Oct)

Citing papers per year: 2025: 17; 2026: 33.

50 papers.

Sort:

By area:

  1. 2025A Survey on 3D Gaussian Splatting Applications: Segmentation, Editing, and Generationcited by 19
  2. 2026DROID-SLAM in the Wildcited by 10
  3. 2025E3D-Bench: A Benchmark for End-to-End 3D Geometric Foundation Modelscited by 7
  4. 2025UP-SLAM: Adaptively Structured Gaussian SLAM with Uncertainty Prediction in Dynamic Environmentscited by 6
  5. 2025DINO-SLAM: DINO-informed RGB-D SLAM for Neural Implicit and Explicit Representationscited by 6
  6. 2025VIGS-SLAM: Visual Inertial Gaussian Splatting SLAMcited by 6
  7. 2026WildRayZer: Self-supervised Large View Synthesis in Dynamic Environmentscited by 4
  8. 2025Gaussian Mapping for Evolving Scenescited by 3
  9. 2026Dream-SLAM: Dreaming the Unseen for Active SLAM in Dynamic Environmentscited by 3
  10. 2026VarSplat: Uncertainty-aware 3D Gaussian Splatting for Robust RGB-D SLAMcited by 3
  11. 2026Flow4DGS-SLAM: Optical Flow-Guided 4D Gaussian Splatting SLAMcited by 3
  12. 2025SING3R-SLAM: Submap-based Indoor Monocular Gaussian SLAM with 3D Reconstruction Priorscited by 2
38 more
  1. 2026The Semantic Lifecycle in Embodied AI: Acquisition, Representation and Storage via Foundation Modelscited by 2
  2. 2026Towards Next-Generation SLAM: A Survey on 3DGS-SLAM Focusing on Performance, Robustness, and Future Directionscited by 2
  3. 2025CAD-SLAM: Consistency-Aware Dynamic SLAM with Dynamic-Static Decoupled Mappingcited by 1
  4. 2025LidarPainter: One-Step Away From Any Lidar View To Novel Guidancecited by 1
  5. 2025A-TDOM: Active TDOM via On-the-Fly 3DGScited by 1
  6. 2025ProDyG: Progressive Dynamic Scene Reconstruction via Gaussian Splatting from Monocular Videoscited by 1
  7. 2025Preconditioned Deformation Gridscited by 1
  8. 2025HouseLayout3D: A Benchmark and Training-Free Baseline for 3D Layout Estimation in the Wildcited by 1
  9. 2025Dynamic Visual SLAM using a General 3D Priorcited by 1
  10. 2026RU4D-SLAM: Reweighting Uncertainty in Gaussian Splatting SLAM for 4D Scene Reconstructioncited by 1
  11. 2026Neu-PiG: Neural Preconditioned Grids for Fast Dynamic Surface Reconstruction on Long Sequencescited by 1
  12. 2026WildPose: A Unified Framework for Robust Pose Estimation in the Wildcited by 1
  13. 2026DeGS: A Scalable 3DGS Architecture via Decoupled Workload Parsing and Reorganizationcited by 1
  14. 2026DSG: Dynamic 3D Scene Graph Construction for Embodied Agents in Changing Indoor Environmentscited by 1
  15. 2025Not All Pixels Are Equal: Confidence-Guided Attention for Feature Matchingcited by 0
  16. 2025Dropping the D: RGB-D SLAM Without the Depth Sensorcited by 0
  17. 2025CRISTAL: Real-time Camera Registration in Static LiDAR Scans using Neural Renderingcited by 0
  18. 2026S2D: Sparse to Dense Lifting for 3D Reconstruction with Minimal Inputscited by 0
  19. 2026ReefMapGS: Enabling Large-Scale Underwater Reconstruction by Closing the Loop Between Multimodal SLAM and Gaussian Splattingcited by 0
  20. 2026DF3DV-1K: A Large-Scale Dataset and Benchmark for Distractor-Free Novel View Synthesiscited by 0
  21. 2026GaussianFlow SLAM: Monocular Gaussian Splatting SLAM Guided by GaussianFlowcited by 0
  22. 2026A Survey of Spatial Memory Representations for Efficient Robot Navigationcited by 0
  23. 2026Pocket-SLAM: Rendering-Area-Aware Pruning for Memory-Efficient 3DGS-SLAMcited by 0
  24. 2026J-LAW: Joint Localization and Action-Conditioned World Modeling via Coupled Latent Factor Graphscited by 0
  25. 2026MoPe: Motion Permanence for Robust Monocular Gaussian Mapping in Dynamic Environmentscited by 0
  26. 2026Rectifying Mask via Entropy for Distractor-Free 3DGS in Ambiguous Scenarioscited by 0
  27. 2026World from Motion: Generative Dynamic Gaussian Reconstruction from Monocular Videocited by 0
  28. 2026DL-SLAM: Enabling High-Fidelity Gaussian Splatting SLAM in Dynamic Environments based on Dual-Level Probabilitycited by 0
  29. 2026DynActiveGS: Active Gaussian Splatting for Dynamic Scene Reconstructioncited by 0
  30. 2026NemoSplat: Feed-Forward 4D Gaussian Splatting for Media-Aware Underwater Reconstructioncited by 0
  31. 2026Misanthrope: A Privacy-Preserving Keypoint Detectorcited by 0
  32. 2026RoSe-SLAM: Robust Semantic-Aware Gaussian Splatting SLAM from Dynamic Monocular Videoscited by 0
  33. 2026SCOUT-SLAM: Structurally-Coupled Dual Uncertainty-Aware 3DGS SLAM in the Wildcited by 0
  34. 2026AMB3R-SLAM: Kilometer-scale SLAM with Hierarchical Backendcited by 0
  35. 2026CLoSeR: Closing the Loop for Long-Context Streaming Reconstructioncited by 0
  36. 2026A Review Of Robotic World Models For Dynamic Environments Based On Factor And Scene Graphscited by 0
  37. 2026All-St3R SLAM: Real-time RGB Dynamic SLAM with Pixel-wise Motion Maskingcited by 0
  38. 2026Gaussian Splatting for Real-Time Scene Reconstruction: Methods, Systems, and Trade-offscited by 0