mlsanityData to 7 Oct 2026

Towards Next-Generation SLAM: A Survey on 3DGS-SLAM Focusing on Performance, Robustness, and Future Directions

arXiv 2602.04251 ↗First posted 4 Feb 2026cs.RO cs.CVcited by 2

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Abstract (arXiv)

Traditional Simultaneous Localization and Mapping (SLAM) systems often face limitations including coarse rendering quality, insufficient recovery of scene details, and poor robustness in dynamic environments. 3D Gaussian Splatting (3DGS), with its efficient explicit representation and high-quality rendering capabilities, offers a new reconstruction paradigm for SLAM. This survey comprehensively reviews key technical approaches for integrating 3DGS with SLAM. We analyze performance optimization of representative methods across four critical dimensions: rendering quality, tracking accuracy, reconstruction speed, and memory consumption, delving into their design principles and breakthroughs. Furthermore, we examine methods for enhancing the robustness of 3DGS-SLAM in complex environments such as motion blur and dynamic environments. Finally, we discuss future challenges and development trends in this area. This survey aims to provide a technical reference for researchers and foster the development of next-generation SLAM systems characterized by high fidelity, efficiency, and robustness.

Key facts. Cited by 2 papers in the map (data through 7 Oct 2026). Builds on 171 of its 250 references that are in the map. First posted on arXiv 4 Feb 2026.

Builds on

171 of 250 references.

References · 171

  1. 20233D Gaussian Splatting for Real-Time Radiance Field Renderingcited by 6,141
  2. 2022Instant Neural Graphics Primitives with a Multiresolution Hash Encodingcited by 3,698
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  6. 2025VGGT: Visual Geometry Grounded Transformercited by 1,475
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  8. 2019The Replica Dataset: A Digital Replica of Indoor Spacescited by 885
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  10. 2023ScanNet++: A High-Fidelity Dataset of 3D Indoor Scenescited by 747
  11. 2023Scaffold-GS: Structured 3D Gaussians for View-Adaptive Renderingcited by 684
  12. 2021DROID-SLAM: Deep Visual SLAM for Monocular, Stereo, and RGB-D Camerascited by 673
38 more
  1. 2021NICE-SLAM: Neural Implicit Scalable Encoding for SLAMcited by 586
  2. 2020TartanAir: A Dataset to Push the Limits of Visual SLAMcited by 494
  3. 2019BlendedMVS: A Large-scale Dataset for Generalized Multi-view Stereo Networkscited by 487
  4. 2016Direct Sparse Odometrycited by 479
  5. 2021iMAP: Implicit Mapping and Positioning in Real-Timecited by 476
  6. 2023Gaussian Splatting SLAMcited by 410
  7. 2023SplaTAM: Splat, Track & Map 3D Gaussians for Dense RGB-D SLAMcited by 386
  8. 2024gsplat: An Open-Source Library for Gaussian Splattingcited by 279
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  11. 2024VastGaussian: Vast 3D Gaussians for Large Scene Reconstructioncited by 209
  12. 2024Taming 3DGS: High-Quality Radiance Fields with Limited Resourcescited by 198
  13. 2023MatrixCity: A Large-scale City Dataset for City-scale Neural Rendering and Beyondcited by 185
  14. 2019ReFusion: 3D Reconstruction in Dynamic Environments for RGB-D Cameras Exploiting Residualscited by 180
  15. 2023Point-SLAM: Dense Neural Point Cloud-based SLAMcited by 160
  16. 2022ESLAM: Efficient Dense SLAM System Based on Hybrid Representation of Signed Distance Fieldscited by 158
  17. 2023Gaussian-SLAM: Photo-realistic Dense SLAM with Gaussian Splattingcited by 152
  18. 2022SPIn-NeRF: Multiview Segmentation and Perceptual Inpainting with Neural Radiance Fieldscited by 144
  19. 2023Photo-SLAM: Real-time Simultaneous Localization and Photorealistic Mapping for Monocular, Stereo, and RGB-D Camerascited by 139
  20. 2023GO-SLAM: Global Optimization for Consistent 3D Instant Reconstructioncited by 132
  21. 2018DynaSLAM: Tracking, Mapping and Inpainting in Dynamic Scenescited by 130
  22. 2024Recent Advances in 3D Gaussian Splattingcited by 130
  23. 2025VGGT-SLAM: Dense RGB SLAM Optimized on the SL(4) Manifoldcited by 130
  24. 2020DeepFactors: Real-Time Probabilistic Dense Monocular SLAMcited by 117
  25. 2021Capturing, Reconstructing, and Simulating: the UrbanScene3D Datasetcited by 117
  26. 2025VGGT-Long: Chunk it, Loop it, Align it -- Pushing VGGT's Limits on Kilometer-scale Long RGB Sequencescited by 107
  27. 20243D Gaussian as a New Era: A Surveycited by 102
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  29. 2018MaskFusion: Real-Time Recognition, Tracking and Reconstruction of Multiple Moving Objectscited by 95
  30. 2024SGS-SLAM: Semantic Gaussian Splatting For Neural Dense SLAMcited by 86
  31. 2024FlashGS: Efficient 3D Gaussian Splatting for Large-scale and High-resolution Renderingcited by 85
  32. 2022Orbeez-SLAM: A Real-time Monocular Visual SLAM with ORB Features and NeRF-realized Mappingcited by 79
  33. 20243D Gaussian Splatting: Survey, Technologies, Challenges, and Opportunitiescited by 77
  34. 2023BEVHeight: A Robust Framework for Vision-based Roadside 3D Object Detectioncited by 74
  35. 2024How NeRFs and 3D Gaussian Splatting are Reshaping SLAM: a Surveycited by 72
  36. 2024RGBD GS-ICP SLAMcited by 65
  37. 2024Splat-SLAM: Globally Optimized RGB-only SLAM with 3D Gaussianscited by 64
  38. 2024CG-SLAM: Efficient Dense RGB-D SLAM in a Consistent Uncertainty-aware 3D Gaussian Fieldcited by 61

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2026: 2.

2 papers.

  1. 2026M^3: Dense Matching Meets Multi-View Foundation Models for Monocular Gaussian Splatting SLAMcited by 1
  2. 2026Robust and Efficient Monocular 3D Gaussian SLAM for Kilometer-Scale Outdoor Scenescited by 0