# DROID-SLAM in the Wild

arXiv: https://arxiv.org/abs/2603.19076 · HTML: https://mlsanity.com/paper/2603.19076/

## Key facts

- Cited by 10 papers in the map (data through 14 Oct 2026).
- Builds on 55 of its 72 references that are in the map.
- First posted on arXiv 19 Mar 2026.

## Builds on (most cited first, 30 of 55)

- [DINOv2: Learning Robust Visual Features without Supervision](https://mlsanity.com/paper/2304.07193/) (2023)
- [Mask R-CNN](https://mlsanity.com/paper/1703.06870/) (2017)
- [3D Gaussian Splatting for Real-Time Radiance Field Rendering](https://mlsanity.com/paper/2308.04079/) (2023)
- [SSD: Single Shot MultiBox Detector](https://mlsanity.com/paper/1512.02325/) (2015)
- [DUSt3R: Geometric 3D Vision Made Easy](https://mlsanity.com/paper/2312.14132/) (2023)
- [VGGT: Visual Geometry Grounded Transformer](https://mlsanity.com/paper/2503.11651/) (2025)
- [SegNet: A Deep Convolutional Encoder-Decoder Architecture for Image Segmentation](https://mlsanity.com/paper/1511.00561/) (2015)
- [ORB-SLAM: a Versatile and Accurate Monocular SLAM System](https://mlsanity.com/paper/1502.00956/) (2015)
- [ORB-SLAM2: an Open-Source SLAM System for Monocular, Stereo and RGB-D Cameras](https://mlsanity.com/paper/1610.06475/) (2016)
- [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)
- [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)
- [MonST3R: A Simple Approach for Estimating Geometry in the Presence of Motion](https://mlsanity.com/paper/2410.03825/) (2024)
- [Gaussian Splatting SLAM](https://mlsanity.com/paper/2312.06741/) (2023)
- [Metric3Dv2: A Versatile Monocular Geometric Foundation Model for Zero-shot Metric Depth and Surface Normal Estimation](https://mlsanity.com/paper/2404.15506/) (2024)
- [SplaTAM: Splat, Track & Map 3D Gaussians for Dense RGB-D SLAM](https://mlsanity.com/paper/2312.02126/) (2023)
- [GS-SLAM: Dense Visual SLAM with 3D Gaussian Splatting](https://mlsanity.com/paper/2311.11700/) (2023)
- [MegaSaM: Accurate, Fast, and Robust Structure and Motion from Casual Dynamic Videos](https://mlsanity.com/paper/2412.04463/) (2024)
- [EgoDex: Learning Dexterous Manipulation from Large-Scale Egocentric Video](https://mlsanity.com/paper/2505.11709/) (2025)
- [Monocular Dynamic View Synthesis: A Reality Check](https://mlsanity.com/paper/2210.13445/) (2022)
- [Deep Patch Visual Odometry](https://mlsanity.com/paper/2208.04726/) (2022)
- [Co-SLAM: Joint Coordinate and Sparse Parametric Encodings for Neural Real-Time SLAM](https://mlsanity.com/paper/2304.14377/) (2023)
- [ReFusion: 3D Reconstruction in Dynamic Environments for RGB-D Cameras Exploiting Residuals](https://mlsanity.com/paper/1905.02082/) (2019)
- [NICER-SLAM: Neural Implicit Scene Encoding for RGB SLAM](https://mlsanity.com/paper/2302.03594/) (2023)
- [Point-SLAM: Dense Neural Point Cloud-based SLAM](https://mlsanity.com/paper/2304.04278/) (2023)
- [ESLAM: Efficient Dense SLAM System Based on Hybrid Representation of Signed Distance Fields](https://mlsanity.com/paper/2211.11704/) (2022)
- [WildGaussians: 3D Gaussian Splatting in the Wild](https://mlsanity.com/paper/2407.08447/) (2024)
- [Vox-Fusion: Dense Tracking and Mapping with Voxel-based Neural Implicit Representation](https://mlsanity.com/paper/2210.15858/) (2022)
- [Self-Driving Cars: A Survey](https://mlsanity.com/paper/1901.04407/) (2019)

## Built on by (most cited first, 10 of 10)

- [Open-AoE: An Open Egocentric Manipulation Dataset and Toolchain for Embodied Learning](https://mlsanity.com/paper/2607.14183/) (2026)
- [OpenLongTail: Generative Scaling of Long-Tail Driving Data](https://mlsanity.com/paper/2607.09655/) (2026)
- [VidMap: Exploiting Temporal Structure for Video-Based Structure-from-Motion](https://mlsanity.com/paper/2607.27194/) (2026)
- [Temporally Grounded Compositional Camera Motion Understanding via Geometric Knowledge Distillation](https://mlsanity.com/paper/2608.10932/) (2026)
- [Revisiting Local Context for Long-Horizon Streaming 3D Reconstruction](https://mlsanity.com/paper/2608.27529/) (2026)
- [Depth2Pose: A Pose-Based Benchmark for Monocular Depth Estimation without Ground-Truth Depth](https://mlsanity.com/paper/2605.19797/) (2026)
- [SCOUT-SLAM: Structurally-Coupled Dual Uncertainty-Aware 3DGS SLAM in the Wild](https://mlsanity.com/paper/2609.14634/) (2026)
- [MEgoVista: Multi-view Ego-aware Motion Estimation for Metric 4D Hands and Head in the Wild](https://mlsanity.com/paper/2609.16684/) (2026)
- [CLoSeR: Closing the Loop for Long-Context Streaming Reconstruction](https://mlsanity.com/paper/2610.01927/) (2026)
- [A Diagnostic Study of World-Space Human Recovery Under High Camera Dynamics](https://mlsanity.com/paper/2610.19729/) (2026)

## 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.