mlsanityData to 7 Oct 2026

DROID-SLAM in the Wild

arXiv 2603.19076 ↗First posted 19 Mar 2026cs.CV cs.ROcited by 9

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Abstract (arXiv)

We present a robust, real-time RGB SLAM system that handles dynamic environments by leveraging differentiable Uncertainty-aware Bundle Adjustment. Traditional SLAM methods typically assume static scenes, leading to tracking failures in the presence of motion. Recent dynamic SLAM approaches attempt to address this challenge using predefined dynamic priors or uncertainty-aware mapping, but they remain limited when confronted with unknown dynamic objects or highly cluttered scenes where geometric mapping becomes unreliable. In contrast, our method estimates per-pixel uncertainty by exploiting multi-view visual feature inconsistency, enabling robust tracking and reconstruction even in real-world environments. The proposed system achieves state-of-the-art camera poses and scene geometry in cluttered dynamic scenarios while running in real time at around 10 FPS. Code and datasets are available at https://github.com/MoyangLi00/DROID-W.git.

Key facts. Cited by 9 papers in the map (data through 7 Oct 2026). Builds on 55 of its 72 references that are in the map. First posted on arXiv 19 Mar 2026.

Builds on

55 of 72 references.

References · 55

  1. 2023DINOv2: Learning Robust Visual Features without Supervisioncited by 7,764
  2. 2017Mask R-CNNcited by 7,259
  3. 20233D Gaussian Splatting for Real-Time Radiance Field Renderingcited by 6,141
  4. 2015SSD: Single Shot MultiBox Detectorcited by 3,125
  5. 2023DUSt3R: Geometric 3D Vision Made Easycited by 1,526
  6. 2015SegNet: A Deep Convolutional Encoder-Decoder Architecture for Image Segmentationcited by 1,483
  7. 2025VGGT: Visual Geometry Grounded Transformercited by 1,475
  8. 2015ORB-SLAM: a Versatile and Accurate Monocular SLAM Systemcited by 983
  9. 2016ORB-SLAM2: an Open-Source SLAM System for Monocular, Stereo and RGB-D Camerascited by 801
  10. 2021DROID-SLAM: Deep Visual SLAM for Monocular, Stereo, and RGB-D Camerascited by 673
  11. 2021NICE-SLAM: Neural Implicit Scalable Encoding for SLAMcited by 586
  12. 2016Direct Sparse Odometrycited by 479
38 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 431
  3. 2023Gaussian Splatting SLAMcited by 410
  4. 2024Metric3Dv2: A Versatile Monocular Geometric Foundation Model for Zero-shot Metric Depth and Surface Normal Estimationcited by 389
  5. 2023SplaTAM: Splat, Track & Map 3D Gaussians for Dense RGB-D SLAMcited by 386
  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 224
  8. 2022Monocular Dynamic View Synthesis: A Reality Checkcited by 199
  9. 2025EgoDex: Learning Dexterous Manipulation from Large-Scale Egocentric Videocited by 191
  10. 2022Deep Patch Visual Odometrycited by 186
  11. 2023Co-SLAM: Joint Coordinate and Sparse Parametric Encodings for Neural Real-Time SLAMcited by 183
  12. 2019ReFusion: 3D Reconstruction in Dynamic Environments for RGB-D Cameras Exploiting Residualscited by 180
  13. 2023NICER-SLAM: Neural Implicit Scene Encoding for RGB SLAMcited by 162
  14. 2023Point-SLAM: Dense Neural Point Cloud-based SLAMcited by 160
  15. 2022ESLAM: Efficient Dense SLAM System Based on Hybrid Representation of Signed Distance Fieldscited by 158
  16. 2024WildGaussians: 3D Gaussian Splatting in the Wildcited by 150
  17. 2022Vox-Fusion: Dense Tracking and Mapping with Voxel-based Neural Implicit Representationcited by 149
  18. 2019Self-Driving Cars: A Surveycited by 147
  19. 2023GO-SLAM: Global Optimization for Consistent 3D Instant Reconstructioncited by 132
  20. 2018DynaSLAM: Tracking, Mapping and Inpainting in Dynamic Scenescited by 130
  21. 2025TTT3R: 3D Reconstruction as Test-Time Trainingcited by 122
  22. 2018MaskFusion: Real-Time Recognition, Tracking and Reconstruction of Multiple Moving Objectscited by 95
  23. 2018DS-SLAM: A Semantic Visual SLAM towards Dynamic Environmentscited by 90
  24. 2025Easi3R: Estimating Disentangled Motion from DUSt3R Without Trainingcited by 88
  25. 2024NeRF On-the-go: Exploiting Uncertainty for Distractor-free NeRFs in the Wildcited by 85
  26. 2024Improving 2D Feature Representations by 3D-Aware Fine-Tuningcited by 70
  27. 2024RGBD GS-ICP SLAMcited by 65
  28. 2024Splat-SLAM: Globally Optimized RGB-only SLAM with 3D Gaussianscited by 64
  29. 2024CG-SLAM: Efficient Dense RGB-D SLAM in a Consistent Uncertainty-aware 3D Gaussian Fieldcited by 61
  30. 2023How To Not Train Your Dragon: Training-free Embodied Object Goal Navigation with Semantic Frontierscited by 53
  31. 2025WildGS-SLAM: Monocular Gaussian Splatting SLAM in Dynamic Environmentscited by 48
  32. 2017Co-Fusion: Real-time Segmentation, Tracking and Fusion of Multiple Objectscited by 47
  33. 2024FAST-LIVO2: Fast, Direct LiDAR-Inertial-Visual Odometrycited by 40
  34. 2020FlowFusion: Dynamic Dense RGB-D SLAM Based on Optical Flowcited by 36
  35. 2024DG-SLAM: Robust Dynamic Gaussian Splatting SLAM with Hybrid Pose Optimizationcited by 29
  36. 2024RoDyn-SLAM: Robust Dynamic Dense RGB-D SLAM with Neural Radiance Fieldscited by 22
  37. 2023DynaMoN: Motion-Aware Fast and Robust Camera Localization for Dynamic Neural Radiance Fieldscited by 16
  38. 2023Scientific Exploration of Challenging Planetary Analog Environments with a Team of Legged Robotscited by 14

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2026: 9.

9 papers.

  1. 2026Open-AoE: An Open Egocentric Manipulation Dataset and Toolchain for Embodied Learningcited by 5
  2. 2026VidMap: Exploiting Temporal Structure for Video-Based Structure-from-Motioncited by 2
  3. 2026OpenLongTail: Generative Scaling of Long-Tail Driving Datacited by 1
  4. 2026Depth2Pose: A Pose-Based Benchmark for Monocular Depth Estimation without Ground-Truth Depthcited by 0
  5. 2026Temporally Grounded Compositional Camera Motion Understanding via Geometric Knowledge Distillationcited by 0
  6. 2026Revisiting Local Context for Long-Horizon Streaming 3D Reconstructioncited by 0
  7. 2026SCOUT-SLAM: Structurally-Coupled Dual Uncertainty-Aware 3DGS SLAM in the Wildcited by 0
  8. 2026MEgoVista: Multi-view Ego-aware Motion Estimation for Metric 4D Hands and Head in the Wildcited by 0
  9. 2026CLoSeR: Closing the Loop for Long-Context Streaming Reconstructioncited by 0