# LEG-SLAM: Real-Time Language-Enhanced Gaussian Splatting for SLAM

arXiv: https://arxiv.org/abs/2506.03073 · HTML: https://mlsanity.com/paper/2506.03073/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Builds on 27 of its 35 references that are in the map.
- First posted on arXiv 3 Jun 2025.

## Builds on (most cited first, 27 of 27)

- [Learning Transferable Visual Models From Natural Language Supervision](https://mlsanity.com/paper/2103.00020/) (2021)
- [DINOv2: Learning Robust Visual Features without Supervision](https://mlsanity.com/paper/2304.07193/) (2023)
- [3D Gaussian Splatting for Real-Time Radiance Field Rendering](https://mlsanity.com/paper/2308.04079/) (2023)
- [ScanNet: Richly-annotated 3D Reconstructions of Indoor Scenes](https://mlsanity.com/paper/1702.04405/) (2017)
- [The Replica Dataset: A Digital Replica of Indoor Spaces](https://mlsanity.com/paper/1906.05797/) (2019)
- [Dynamic 3D Gaussians: Tracking by Persistent Dynamic View Synthesis](https://mlsanity.com/paper/2308.09713/) (2023)
- [NICE-SLAM: Neural Implicit Scalable Encoding for SLAM](https://mlsanity.com/paper/2112.12130/) (2021)
- [Scaling Open-Vocabulary Image Segmentation with Image-Level Labels](https://mlsanity.com/paper/2112.12143/) (2021)
- [In-Place Scene Labelling and Understanding with Implicit Scene Representation](https://mlsanity.com/paper/2103.15875/) (2021)
- [LangSplat: 3D Language Gaussian Splatting](https://mlsanity.com/paper/2312.16084/) (2023)
- [GS-SLAM: Dense Visual SLAM with 3D Gaussian Splatting](https://mlsanity.com/paper/2311.11700/) (2023)
- [GaussianDreamer: Fast Generation from Text to 3D Gaussians by Bridging 2D and 3D Diffusion Models](https://mlsanity.com/paper/2310.08529/) (2023)
- [Editing Conditional Radiance Fields](https://mlsanity.com/paper/2105.06466/) (2021)
- [Co-SLAM: Joint Coordinate and Sparse Parametric Encodings for Neural Real-Time SLAM](https://mlsanity.com/paper/2304.14377/) (2023)
- [Panoptic Lifting for 3D Scene Understanding with Neural Fields](https://mlsanity.com/paper/2212.09802/) (2022)
- [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)
- [SGS-SLAM: Semantic Gaussian Splatting For Neural Dense SLAM](https://mlsanity.com/paper/2402.03246/) (2024)
- [Semantic Gaussians: Open-Vocabulary Scene Understanding with 3D Gaussian Splatting](https://mlsanity.com/paper/2403.15624/) (2024)
- [Talking to DINO: Bridging Self-Supervised Vision Backbones with Language for Open-Vocabulary Segmentation](https://mlsanity.com/paper/2411.19331/) (2024)
- [SemGauss-SLAM: Dense Semantic Gaussian Splatting SLAM](https://mlsanity.com/paper/2403.07494/) (2024)
- [DNS SLAM: Dense Neural Semantic-Informed SLAM](https://mlsanity.com/paper/2312.00204/) (2023)
- [BrightDreamer: Generic 3D Gaussian Generative Framework for Fast Text-to-3D Synthesis](https://mlsanity.com/paper/2403.11273/) (2024)
- [NEDS-SLAM: A Neural Explicit Dense Semantic SLAM Framework using 3D Gaussian Splatting](https://mlsanity.com/paper/2403.11679/) (2024)
- [RGBDS-SLAM: A RGB-D Semantic Dense SLAM Based on 3D Multi Level Pyramid Gaussian Splatting](https://mlsanity.com/paper/2412.01217/) (2024)

## Built on by (most cited first, 2 of 2)

- [M3DMap: Object-aware Multimodal 3D Mapping for Dynamic Environments](https://mlsanity.com/paper/2508.17044/) (2025)
- [LatentAM: Real-Time, Large-Scale Latent Gaussian Attention Mapping via Online Dictionary Learning](https://mlsanity.com/paper/2602.12314/) (2026)

## Abstract (arXiv)

Modern Gaussian Splatting methods have proven highly effective for real-time photorealistic rendering of 3D scenes. However, integrating semantic information into this representation remains a significant challenge, especially in maintaining real-time performance for SLAM (Simultaneous Localization and Mapping) applications. In this work, we introduce LEG-SLAM -- a novel approach that fuses an optimized Gaussian Splatting implementation with visual-language feature extraction using DINOv2 followed by a learnable feature compressor based on Principal Component Analysis, while enabling an online dense SLAM. Our method simultaneously generates high-quality photorealistic images and semantically labeled scene maps, achieving real-time scene reconstruction with more than 10 fps on the Replica dataset and 18 fps on ScanNet. Experimental results show that our approach significantly outperforms state-of-the-art methods in reconstruction speed while achieving competitive rendering quality. The proposed system eliminates the need for prior data preparation such as camera's ego motion or pre-computed static semantic maps. With its potential applications in autonomous robotics, augmented reality, and other interactive domains, LEG-SLAM represents a significant step forward in real-time semantic 3D Gaussian-based SLAM. Project page: https://titrom025.github.io/LEG-SLAM/