# DSP-SLAM++: A Unified Framework for Multi-Class, High-Fidelity Object SLAM in the Wild

arXiv: https://arxiv.org/abs/2606.25953 · HTML: https://mlsanity.com/paper/2606.25953/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 19 of its 26 references that are in the map.
- First posted on arXiv 24 Jun 2026.

## Builds on (most cited first, 19 of 19)

- [nuScenes: A multimodal dataset for autonomous driving](https://mlsanity.com/paper/1903.11027/) (2019)
- [ShapeNet: An Information-Rich 3D Model Repository](https://mlsanity.com/paper/1512.03012/) (2015)
- [DeepSDF: Learning Continuous Signed Distance Functions for Shape Representation](https://mlsanity.com/paper/1901.05103/) (2019)
- [PointPillars: Fast Encoders for Object Detection from Point Clouds](https://mlsanity.com/paper/1812.05784/) (2018)
- [ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAM](https://mlsanity.com/paper/2007.11898/) (2020)
- [KITTI-360: A Novel Dataset and Benchmarks for Urban Scene Understanding in 2D and 3D](https://mlsanity.com/paper/2109.13410/) (2021)
- [MetaSDF: Meta-learning Signed Distance Functions](https://mlsanity.com/paper/2006.09662/) (2020)
- [Self-Driving Cars: A Survey](https://mlsanity.com/paper/1901.04407/) (2019)
- [WoodScape: A multi-task, multi-camera fisheye dataset for autonomous driving](https://mlsanity.com/paper/1905.01489/) (2019)
- [Recent Advances in 3D Gaussian Splatting](https://mlsanity.com/paper/2403.11134/) (2024)
- [CubeSLAM: Monocular 3D Object SLAM](https://mlsanity.com/paper/1806.00557/) (2018)
- [QuadricSLAM: Dual Quadrics from Object Detections as Landmarks in Object-oriented SLAM](https://mlsanity.com/paper/1804.04011/) (2018)
- [SemGauss-SLAM: Dense Semantic Gaussian Splatting SLAM](https://mlsanity.com/paper/2403.07494/) (2024)
- [DSP-SLAM: Object Oriented SLAM with Deep Shape Priors](https://mlsanity.com/paper/2108.09481/) (2021)
- [GenSDF: Two-Stage Learning of Generalizable Signed Distance Functions](https://mlsanity.com/paper/2206.02780/) (2022)
- [LIMO: Lidar-Monocular Visual Odometry](https://mlsanity.com/paper/1807.07524/) (2018)
- [CamVox: A Low-cost and Accurate Lidar-assisted Visual SLAM System](https://mlsanity.com/paper/2011.11357/) (2020)
- [RGB-L: Enhancing Indirect Visual SLAM using LiDAR-based Dense Depth Maps](https://mlsanity.com/paper/2212.02085/) (2022)
- [MCOO-SLAM: A Multi-Camera Omnidirectional Object SLAM System](https://mlsanity.com/paper/2506.15402/) (2025)

## Abstract (arXiv)

Existing object-aware SLAM systems force a trade-off between real-time performance, multi-class support, and the generation of high-fidelity, semantically coherent object models. To address this trade-off, we present DSP-SLAM++, which extends the DSP-SLAM framework with an asynchronous mapping pipeline for real-time performance and dedicated sensor fusion adaptations for a monocular fisheye-LiDAR suite. Experiments demonstrate that our system generates fine-grained, geometrically-complete shapes for multiple object classes while eliminating severe mapping thread bottlenecks by reducing maximum object processing latency by up to 70% compared to the state-of-the-art baseline, enabling robust, real-time performance on a challenging 25 Hz multi-class datasets. This work makes high-fidelity, multi-class object SLAM more practical for real-world applications like autonomous driving and robotic manipulation by enabling its use on platforms with common fisheye-LiDAR sensor setups. The open-source code is available at: [github.com/AUBVRL/DSP-SLAMpp].