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NeRF-based SLAM

Neural implicit representation SLAM systems — visual, LiDAR, and multi-modal approaches for dense mapping and localization.

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Visual NeRF-SLAM (2021–2026) 83+ papers

MethodFull TitleVenueYear
iMAPImplicit Mapping and Positioning in Real-Time ICCV2021
NICE-SLAMNeural Implicit Scalable Encoding for SLAM CVPR2022
Co-SLAMJoint Coordinate and Sparse Parametric Encodings for Neural Real-Time SLAM CVPR2023
ESLAMEfficient Dense SLAM System Based on Hybrid SDF Representation CVPR2023
Point-SLAMDense Neural Point Cloud-based SLAM ICCV2023
Vox-FusionDense Tracking and Mapping with Voxel-based Neural Implicit Representation ISMAR2022
NeRF-SLAMReal-Time Dense Monocular SLAM with Neural Radiance Fields IROS2023
GO-SLAMGlobal Optimization for Consistent 3D Instant Reconstruction ICCV2023
Orbeez-SLAMReal-time Monocular Visual SLAM with ORB Features and NeRF Mapping ICRA2023
vMAPVectorised Object Mapping for Neural Field SLAM CVPR2023
SNI-SLAMSemantic Neural Implicit SLAM CVPR2024
PLGSLAMProgressive Neural Scene Representation with Local to Global Bundle Adjustment CVPR2024
Loopy-SLAMDense Neural SLAM with Loop Closures CVPR2024
GlORIE-SLAMGlobally Optimized RGB-only Implicit Encoding Point Cloud SLAM arXiv2024
HI-SLAMMonocular Real-time Dense Mapping with Hybrid Implicit Fields RAL2023
DDN-SLAMReal-time Dense Dynamic Neural Implicit SLAM with Joint Semantic Encoding RAL2025
Uni-SLAMUncertainty-Aware Neural Implicit SLAM for Real-Time Dense Indoor Scene Reconstruction arXiv2024
MISOMultiresolution Submap Optimization for Efficient Globally Consistent Neural Reconstruction RSS2025
HS-SLAMHybrid Representation with Structural Supervision for Improved Dense SLAM ICRA2025
EC-SLAMEffectively Constrained Neural RGB-D SLAM with TSDF Hash Encoding PR2025
SLNMappingSuper Lightweight Neural Mapping in Large-Scale Scenes IJCV2026
ACE-SLAMACE-SLAM: Scene Coordinate Regression for Neural Implicit Real-Time SLAM arXiv2025
DINO-SLAMDINO-SLAM: DINO-informed RGB-D SLAM for Neural Implicit and Explicit Representations arXiv2025
NID-SLAMNID-SLAM: Neural Implicit Representation-based RGB-D SLAM in Dynamic Environments IROS2024

LiDAR NeRF-SLAM 15+ papers

MethodFull TitleVenueYear
SHINE-MappingLarge-Scale 3D Mapping Using Sparse Hierarchical Implicit Neural Representations ICRA2022
NeRF-LOAMNeural Implicit Representation for Large-Scale Incremental LiDAR Odometry and Mapping ICCV2023
PIN-SLAMLiDAR SLAM Using Point-Based Implicit Neural Representation TRO2024
LONERLiDAR Only Neural Representations for Real-Time SLAM RAL2023
NF-AtlasMulti-Volume Neural Feature Fields for Large Scale LiDAR Mapping RAL2023
CLID-SLAMCoupled LiDAR-Inertial Neural Implicit Dense SLAM RAL2025
S2KAN-SLAMElastic Neural LiDAR SLAM with SDF Submaps and Kolmogorov-Arnold Networks TCSVT2025
CURL-SLAMContinuous and Compact LiDAR Mapping TRO2025
3D-SLNRSuper Lightweight Neural Representation for Large-scale 3D Mapping CVPR2025
INF-SLiMLarge-scale Implicit Neural Fields for Semantic LiDAR Mapping arXiv2025

Multimodal NeRF-SLAM 8+ papers

MethodFull TitleVenueYear
Multi-Modal NeRFMulti-Modal Neural Radiance Field for Monocular Dense SLAM with Light-Weight ToF Sensor ICCV2023
Rapid-MappingLiDAR-Visual Implicit Neural Representations for Real-Time Dense Mapping RAL2024
NeuRSSEnhancing AUV Localization and Bathymetric Mapping with Neural Rendering for Sidescan SLAM arXiv2024
UN3-MappingUncertainty-aware Neural Non-Projective Signed Distance Fields for 3D Mapping RAL2025
Thermal SLAMMonocular Thermal SLAM with Neural Radiance Fields for 3D Scene Reconstruction Neurocomputing2024

Surveys & Benchmarks 10+ papers

TitleFocusVenueYear
How NeRFs and 3DGS are Reshaping SLAM: a SurveyComprehensive overview of neural SLAM arXiv2024
Neural Fields in Robotics: A SurveyNeural fields across all robotics domains arXiv2024
3DGS in Robotics: A SurveyGaussian Splatting in robotics applications arXiv2024
Towards Next-Gen SLAM3DGS-SLAM performance, robustness, and future directions arXiv2026
SLAM&Render BenchmarkIntersection of Neural Rendering, GS, and SLAM arXiv2025
Benchmarking Neural Implicit SLAMReal-Time RGB-D SLAM with neural implicit representations CVPR2024
NeRF and GS SLAM in the WildEvaluation in challenging real-world environments arXiv2024