# SPORTS: Simultaneous Panoptic Odometry, Rendering, Tracking and Segmentation for Urban Scenes Understanding

arXiv: https://arxiv.org/abs/2510.12749 · HTML: https://mlsanity.com/paper/2510.12749/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 58 of its 94 references that are in the map.
- First posted on arXiv 14 Oct 2025.

## Builds on (most cited first, 30 of 58)

- [End-to-End Object Detection with Transformers](https://mlsanity.com/paper/2005.12872/) (2020)
- [Squeeze-and-Excitation Networks](https://mlsanity.com/paper/1709.01507/) (2017)
- [Instant Neural Graphics Primitives with a Multiresolution Hash Encoding](https://mlsanity.com/paper/2201.05989/) (2022)
- [Perceptual Losses for Real-Time Style Transfer and Super-Resolution](https://mlsanity.com/paper/1603.08155/) (2016)
- [CBAM: Convolutional Block Attention Module](https://mlsanity.com/paper/1807.06521/) (2018)
- [V-Net: Fully Convolutional Neural Networks for Volumetric Medical Image Segmentation](https://mlsanity.com/paper/1606.04797/) (2016)
- [Mip-NeRF: A Multiscale Representation for Anti-Aliasing Neural Radiance Fields](https://mlsanity.com/paper/2103.13415/) (2021)
- [Depth Anything: Unleashing the Power of Large-Scale Unlabeled Data](https://mlsanity.com/paper/2401.10891/) (2024)
- [ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAM](https://mlsanity.com/paper/2007.11898/) (2020)
- [Block-NeRF: Scalable Large Scene Neural View Synthesis](https://mlsanity.com/paper/2202.05263/) (2022)
- [DROID-SLAM: Deep Visual SLAM for Monocular, Stereo, and RGB-D Cameras](https://mlsanity.com/paper/2108.10869/) (2021)
- [NICE-SLAM: Neural Implicit Scalable Encoding for SLAM](https://mlsanity.com/paper/2112.12130/) (2021)
- [ECA-Net: Efficient Channel Attention for Deep Convolutional Neural Networks](https://mlsanity.com/paper/1910.03151/) (2019)
- [Direct Sparse Odometry](https://mlsanity.com/paper/1607.02565/) (2016)
- [iMAP: Implicit Mapping and Positioning in Real-Time](https://mlsanity.com/paper/2103.12352/) (2021)
- [Mega-NeRF: Scalable Construction of Large-Scale NeRFs for Virtual Fly-Throughs](https://mlsanity.com/paper/2112.10703/) (2021)
- [SplaTAM: Splat, Track & Map 3D Gaussians for Dense RGB-D SLAM](https://mlsanity.com/paper/2312.02126/) (2023)
- [DrivingGaussian: Composite Gaussian Splatting for Surrounding Dynamic Autonomous Driving Scenes](https://mlsanity.com/paper/2312.07920/) (2023)
- [Virtual KITTI 2](https://mlsanity.com/paper/2001.10773/) (2020)
- [Neural Point-Based Graphics](https://mlsanity.com/paper/1906.08240/) (2019)
- [Rethinking Coarse-to-Fine Approach in Single Image Deblurring](https://mlsanity.com/paper/2108.05054/) (2021)
- [Neural Scene Graphs for Dynamic Scenes](https://mlsanity.com/paper/2011.10379/) (2020)
- [SOLO: Segmenting Objects by Locations](https://mlsanity.com/paper/1912.04488/) (2019)
- [Street Gaussians: Modeling Dynamic Urban Scenes with Gaussian Splatting](https://mlsanity.com/paper/2401.01339/) (2024)
- [Quasi-Dense Similarity Learning for Multiple Object Tracking](https://mlsanity.com/paper/2006.06664/) (2020)
- [Playing for Benchmarks](https://mlsanity.com/paper/1709.07322/) (2017)
- [NICER-SLAM: Neural Implicit Scene Encoding for RGB SLAM](https://mlsanity.com/paper/2302.03594/) (2023)
- [CNN-SLAM: Real-time dense monocular SLAM with learned depth prediction](https://mlsanity.com/paper/1704.03489/) (2017)
- [SUDS: Scalable Urban Dynamic Scenes](https://mlsanity.com/paper/2303.14536/) (2023)
- [Video Panoptic Segmentation](https://mlsanity.com/paper/2006.11339/) (2020)

## Abstract (arXiv)

The scene perception, understanding, and simulation are fundamental techniques for embodied-AI agents, while existing solutions are still prone to segmentation deficiency, dynamic objects' interference, sensor data sparsity, and view-limitation problems. This paper proposes a novel framework, named SPORTS, for holistic scene understanding via tightly integrating Video Panoptic Segmentation (VPS), Visual Odometry (VO), and Scene Rendering (SR) tasks into an iterative and unified perspective. Firstly, VPS designs an adaptive attention-based geometric fusion mechanism to align cross-frame features via enrolling the pose, depth, and optical flow modality, which automatically adjust feature maps for different decoding stages. And a post-matching strategy is integrated to improve identities tracking. In VO, panoptic segmentation results from VPS are combined with the optical flow map to improve the confidence estimation of dynamic objects, which enhances the accuracy of the camera pose estimation and completeness of the depth map generation via the learning-based paradigm. Furthermore, the point-based rendering of SR is beneficial from VO, transforming sparse point clouds into neural fields to synthesize high-fidelity RGB views and twin panoptic views. Extensive experiments on three public datasets demonstrate that our attention-based feature fusion outperforms most existing state-of-the-art methods on the odometry, tracking, segmentation, and novel view synthesis tasks.