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Gaussian Splatting SLAM

Real-time photorealistic SLAM with 3D Gaussian primitives — visual, LiDAR-inertial, multi-modal, and multi-agent systems.

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Visual Gaussian Splatting SLAM (2023–2026) 106+ papers

MethodFull TitleVenueYear
GSO-SLAMGSO-SLAM: Bidirectionally Coupled Gaussian Splatting and Direct Visual Odometry arXiv2026
DenseSplatDenseSplat: Densifying Gaussian Splatting SLAM with Neural Radiance Prior arXiv2026
RGS-SLAMRGS-SLAM: Robust Gaussian Splatting SLAM with One-Shot Dense Initialization arXiv2026
SplaTAMSplat, Track & Map 3D Gaussians for Dense RGB-D SLAM CVPR2024
GS-SLAMDense Visual SLAM with 3D Gaussian Splatting CVPR2024
Photo-SLAMReal-time Simultaneous Localization and Photorealistic Mapping CVPR2024
Gaussian-SLAMPhoto-realistic Dense SLAM with Gaussian Splatting arXiv2023
MonoGSGaussian Splatting SLAM (Monocular) CVPR2024
RTG-SLAMReal-time 3D Reconstruction at Scale using Gaussian Splatting SIGGRAPH2024
CG-SLAMEfficient Dense RGB-D SLAM in Consistent Uncertainty-aware 3D Gaussian Field ECCV2024
SGS-SLAMSemantic Gaussian Splatting For Neural Dense SLAM ECCV2024
Splat-SLAMGlobally Optimized RGB-only SLAM with 3D Gaussians arXiv2024
LoopSplatLoop Closure by Registering 3D Gaussian Splats 3DV2025
DG-SLAMRobust Dynamic Gaussian Splatting SLAM with Hybrid Pose Optimization NeurIPS2024
HI-SLAM2Geometry-Aware Gaussian SLAM for Fast Monocular Scene Reconstruction TRO2025
MAGiC-SLAMMulti-Agent Gaussian Globally Consistent SLAM CVPR2025
WildGS-SLAMMonocular Gaussian Splatting SLAM in Dynamic Environments CVPR2025
GigaSLAMLarge-Scale Monocular SLAM with Hierarchical Gaussian Splats arXiv2025
VINGS-MonoVisual-Inertial Gaussian Splatting Monocular SLAM in Large Scenes TRO2025
Scaffold-SLAMStructured 3D Gaussians for Simultaneous Localization and Photorealistic Mapping arXiv2025
PanoSLAMPanoptic 3D Scene Reconstruction via Gaussian SLAM arXiv2025
GauS-SLAMDense RGB-D SLAM with Gaussian Surfels RAL2026
4D GS SLAM4D Gaussian Splatting SLAM ICCV2025
DROID-SplatCombining End-to-End SLAM with 3D Gaussian Splatting ICCVw2024
FlashSLAMAccelerated RGB-D SLAM for Real-Time 3D Reconstruction with Gaussian Splatting arXiv2024
SEGS-SLAMStructure-enhanced 3DGS SLAM with Appearance Embedding ICCV2025
FSGSStochastic Local Newton Optimized 3DGS for Real-time Monocular SLAM ICLR2026
VIGS-SLAMVIGS-SLAM: Visual Inertial Gaussian Splatting SLAM arXiv2025
EndoGSLAMEndoGSLAM: Real-Time Dense Reconstruction and Tracking in Endoscopic Surgeries using Gaussian Splatting CVPR2024
GLC-SLAMGLC-SLAM: Gaussian Splatting SLAM with Efficient Loop Closure arXiv2025

LiDAR & Multi-Modal GS-SLAM 20+ papers

MethodFull TitleVenueYear
LIV-GaussMapLiDAR-Inertial-Visual Fusion for Real-time 3D Radiance Field Map Rendering RAL2024
MM3DGS SLAMMulti-modal 3DGS SLAM Using Vision, Depth, and Inertial Measurements IROS2024
Gaussian-LICPhoto-realistic LiDAR-Inertial-Camera SLAM with 3D Gaussian Splatting ICRA2025
LVI-GSTightly-coupled LiDAR-Visual-Inertial SLAM using 3D Gaussian Splatting TIM2025
GS-LIVOReal-Time LiDAR, Inertial, and Visual Multi-sensor Fused Odometry with Gaussian Mapping TRO2025
Splat-LOAMGaussian Splatting LiDAR Odometry and Mapping ICCV2025
PINGSGaussian Splatting Meets Distance Fields within a Point-Based Implicit Neural Map arXiv2025
GSFusionGlobally Optimized LiDAR-Inertial-Visual Mapping for Gaussian Splatting arXiv2025
LiV-GSLiDAR-Vision Integration for 3DGS SLAM in Outdoor Environments IROS2025
SplatMAPOnline Dense Monocular SLAM with 3D Gaussian Splatting arXiv2025
HGS-MappingOnline Dense Mapping Using Hybrid Gaussian Representation in Urban Scenes RAL2024

Multi-Agent & Collaborative GS-SLAM 10+ papers

MethodFull TitleVenueYear
MAC-Ego3DMulti-Agent Gaussian Consensus for Real-Time Collaborative Ego-Motion and Photorealistic 3D Reconstruction CVPR2025
HAMMERHeterogeneous, Multi-Robot Semantic Gaussian Splatting RAL2025
MNE-SLAMMulti-Agent Neural SLAM for Mobile Robots CVPR2025
GRAND-SLAMLocal Optimization for Globally Consistent Large-Scale Multi-Agent Gaussian SLAM RAL2025
RAMENReal-time Asynchronous Multi-agent Neural Implicit Mapping arXiv2025
SIRENSemantic, Initialization-Free Registration of Multi-Robot Gaussian Splatting Maps arXiv2025
OpenMultiOpen-Vocabulary Instance-Level Multi-Agent Distributed Implicit Mapping RAL2025

Dynamic Scene & Semantic GS-SLAM 16+ papers

MethodFull TitleVenueYear
NEDS-SLAMA Novel Neural Explicit Dense Semantic SLAM Framework using 3DGS RAL2024
DGS-SLAMGaussian Splatting SLAM in Dynamic Environment ICRA2025
GassidyGaussian Splatting SLAM in Dynamic Environments ICRA2025
SDD-SLAMSemantic-Driven Dynamic SLAM with Gaussian Splatting RAL2025
DynaGSLAMReal-Time Gaussian-Splatting SLAM for Online Rendering, Tracking, Motion Predictions arXiv2025
Hier-SLAMScaling-up Semantics in SLAM with Hierarchically Categorical Gaussian Splatting ICRA2025
OpenGS-SLAMOpen-Set Dense Semantic SLAM with 3DGS for Object-Level Understanding ICRA2025
PG-SLAMPhoto-realistic and Geometry-aware RGB-D SLAM in Dynamic Environments TRO2025
SAP-SLAMSemantic-Assisted Perception SLAM with 3D Gaussian Splatting ICRA2025
STAMICSSplat, Track And Map with Integrated Consistency and Semantics arXiv2025
Online Language SplattingLanguage-embedded Gaussian Splatting for open-vocabulary mapping arXiv2025
RoMoRoMo: Robust Motion Segmentation Improves Structure from Motion for Dynamic Gaussian Splatting SLAM arXiv2025