awesome-3dgs-slam
Paper Survey for 3DGS SLAM
https://github.com/kwanwaipang/awesome-3dgs-slam
Last synced: 3 days ago
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Image-based 3DGS
- OmniMap: A General Mapping Framework Integrating Optics, Geometry, and Semantics - DYN/omnimap.svg)](https://github.com/BIT-DYN/omnimap)|[website](https://omni-map.github.io/)|
- Stereo 3D Gaussian Splatting SLAM for Outdoor Urban Scenes - --|---|
- G2S-ICP SLAM: Geometry-aware Gaussian Splatting ICP SLAM - --|---|
- MemGS: Memory-Efficient Gaussian Splatting for Real-Time SLAM - HNU/MemGS_SLAM.svg)](https://github.com/NAIL-HNU/MemGS_SLAM) |---|
- MoDGS: Dynamic Gaussian Splatting from Casually-captured Monocular Videos with Depth Priors
- SmallGS: Gaussian Splatting Based Camera Pose Estimation for Small-Baseline Videos - --|[website](https://yuxinyao620.github.io/SmallGS/)<br>MonST3R+3DGS|
- Enhancing Gaussian Splatting SLAM with Feature-based Tracking - --|---|
- ToF-Splatting: Dense SLAM using Sparse Time-of-Flight Depth and Multi-Frame Integration - --|---|
- GauS-SLAM: Dense RGB-D SLAM with Gaussian Surfels - slam/gaus-slam.svg)](https://github.com/gaus-slam/gaus-slam)|[website](https://gaus-slam.github.io/)|
- Compensating Spatiotemporally Inconsistent Observations for Online Dynamic 3D Gaussian Splatting - --|[website](https://bbangsik13.github.io/OR2/)|
- GauSS-MI: Gaussian Splatting Shannon Mutual Information for Active 3D Reconstruction - MI.svg)](https://github.com/JohannaXie/GauSS-MI)|---|
- GSFF-SLAM: 3D Semantic Gaussian Splatting SLAM via Feature Field - --|---|
- GSFeatLoc: Visual Localization Using Feature Correspondence on 3D Gaussian Splatting - --|---|
- Sparse2DGS: Geometry-Prioritized Gaussian Splatting for Surface Reconstruction from Sparse Views - --|
- Direct Sparse Odometry with Continuous 3D Gaussian Maps for Indoor Environments - hust/gs-dso.svg)](https://github.com/JD-hust/gs-dso)|---|
- MAGiC-SLAM: Multi-Agent Gaussian Globally Consistent SLAM - SLAM.svg)](https://github.com/VladimirYugay/MAGiC-SLAM)|[website](https://vladimiryugay.github.io/magic_slam/)|
- 4D Gaussian Splatting SLAM - li/4DGS-SLAM.svg)](https://github.com/yanyan-li/4DGS-SLAM)|[website](https://yanyan-li.github.io/project/gs/4dgsslam.html)|
- GI-SLAM: Gaussian-Inertial SLAM - --|---|
- FGS-SLAM: Fourier-based Gaussian Splatting for Real-time SLAM with Sparse and Dense Map Fusion - --|---|
- OpenGS-SLAM: Open-Set Dense Semantic SLAM with 3D Gaussian Splatting for Object-Level Scene Understanding - bit/open_semantic_slam.svg)](https://github.com/YOUNG-bit/open_semantic_slam)|[website](https://young-bit.github.io/opengs-github.github.io/)|
- You Need a Transition Plane: Bridging Continuous Panoramic 3D Reconstruction with Perspective Gaussian Splatting - bjtu/TPGS.svg)](https://github.com/zhijieshen-bjtu/TPGS)|---|
- SDD-SLAM: Semantic-Driven Dynamic SLAM with Gaussian Splatting - --|---|
- Dynamic SLAM with 3D Gaussian Splatting Supporting Monocular Sensing - --|---|
- ODHSR: Online Dense 3D Reconstruction of Humans and Scenes from Monocular Videos - ait/ODHSR.svg)](https://github.com/eth-ait/ODHSR)|[website](https://eth-ait.github.io/ODHSR/)|
- SLAM&Render: A Benchmark for the Intersection Between Neural Rendering, Gaussian Splatting and SLAM - cerezo/SLAM-Render.svg)](https://github.com/samuel-cerezo/SLAM-Render)|[website](https://samuel-cerezo.github.io/SLAM&Render)<br>dataset|
- VIGS SLAM: IMU-based Large-Scale 3D Gaussian Splatting SLAM - --|---|
- Embracing Dynamics: Dynamics-aware 4D Gaussian Splatting SLAM - --|---|
- Monogs++: Fast and accurate monocular rgb gaussian slam - --|---|
- RGBDS-SLAM: A RGB-D Semantic Dense SLAM Based on 3D Multi Level Pyramid Gaussian Splatting - SLAM.svg)](https://github.com/zhenzhongcao/RGBDS-SLAM)|---|
- VINGS-Mono: Visual-Inertial Gaussian Splatting Monocular SLAM in Large Scenes - --|[website](https://vings-mono.github.io/)|
- WildGS-SLAM: Monocular Gaussian Splatting SLAM in Dynamic Environments - SLAM.svg)](https://github.com/GradientSpaces/WildGS-SLAM)|[website](https://wildgs-slam.github.io/)|
- GARAD-SLAM: 3D GAussian splatting for Real-time Anti Dynamic SLAM - --|---|
- GS-GVINS: A Tightly-integrated GNSS-Visual-Inertial Navigation System Augmented by 3D Gaussian Splatting - --|---|
- FlashSLAM: Accelerated RGB-D SLAM for Real-Time 3D Scene Reconstruction with Gaussian Splatting
- PG-SLAM: Photo-realistic and Geometry-aware RGB-D SLAM in Dynamic Environments - --|---|
- GaussianSpa: An" Optimizing-Sparsifying" Simplification Framework for Compact and High-Quality 3D Gaussian Splatting - lab/GaussianSpa.svg)](https://github.com/noodle-lab/GaussianSpa)|[website](https://noodle-lab.github.io/gaussianspa/)|
- 6dgs: 6d pose estimation from a single image and a 3d gaussian splatting model
- Spikegs: 3d gaussian splatting from spike streams with high-speed camera motion - --|---|
- DG-SLAM: Robust Dynamic Gaussian Splatting SLAM with Hybrid Pose Optimization - zvg/DG-SLAM.svg)](https://github.com/fudan-zvg/DG-SLAM)|---|
- Splat-slam: Globally optimized rgb-only slam with 3d gaussians - SLAM.svg)](https://github.com/eriksandstroem/Splat-SLAM)|---|
- TAMBRIDGE: Bridging Frame-Centered Tracking and 3D Gaussian Splatting for Enhanced SLAM - DAVID.svg)](https://github.com/ZeldaFromHeaven/TAMBRIDGE-DAVID)|[website](https://zeldafromheaven.github.io/TAMBRIDGE/)|
- Real-time photorealistic dynamic scene representation and rendering with 4d gaussian splatting - zvg/4d-gaussian-splatting.svg)](https://github.com/fudan-zvg/4d-gaussian-splatting)|4DGS|
- HI-SLAM2: Geometry-Aware Gaussian SLAM for Fast Monocular Scene Reconstruction - SLAM2.svg)](https://github.com/Willyzw/HI-SLAM2)|[website](https://hi-slam2.github.io/)|
- Gassidy: Gaussian Splatting SLAM in Dynamic Environments - --|[website](https://wen950223.wixsite.com/gassidy-slam-1)|
- DGS-SLAM: Gaussian Splatting SLAM in Dynamic Environment - SLAM.svg)](https://github.com/kmk97/DGS-SLAM)|---|
- Motiongs: Compact gaussian splatting slam by motion filter - --|---|
- 2d gaussian splatting for geometrically accurate radiance fields - gaussian-splatting.svg)](https://github.com/hbb1/2d-gaussian-splatting)|[website](https://surfsplatting.github.io/)<br>2DGS|
- Ngm-slam: Gaussian splatting slam with radiance field submap - --|---|
- Dngaussian: Optimizing sparse-view 3d gaussian radiance fields with global-local depth normalization - --|
- Monocular gaussian slam with language extended loop closure - --|---|
- HGS-mapping: Online dense mapping using hybrid Gaussian representation in urban scenes - --|---|
- Mgs-slam: Monocular sparse tracking and gaussian mapping with depth smooth regularization - --|---|
- 3dgs-reloc: 3d gaussian splatting for map representation and visual relocalization - --|---|
- Rgbd gs-icp slam - of-AI-and-Robotics/GS_ICP_SLAM.svg)](https://github.com/Lab-of-AI-and-Robotics/GS_ICP_SLAM)|---|
- Cg-slam: Efficient dense rgb-d slam in a consistent uncertainty-aware 3d gaussian field - SLAM.svg)](https://github.com/hjr37/CG-SLAM)|[website](https://zju3dv.github.io/cg-slam/)|
- Compact 3d gaussian splatting for dense visual slam - --|
- Mm3dgs slam: Multi-modal 3d gaussian splatting for slam using vision, depth, and inertial measurements - Group/MM3DGS-SLAM.svg)](https://github.com/VITA-Group/MM3DGS-SLAM)|[website](https://vita-group.github.io/MM3DGS-SLAM/)|
- Neds-slam: A neural explicit dense semantic slam framework using 3d gaussian splatting - --|---|
- High-fidelity slam using gaussian splatting with rendering-guided densification and regularized optimization - SLAM.svg)](https://github.com/ljjTYJR/HF-SLAM)|---|
- Semgauss-slam: Dense semantic gaussian splatting slam - --|---|
- Sgs-slam: Semantic gaussian splatting for neural dense slam - SLAM.svg)](https://github.com/ShuhongLL/SGS-SLAM)|---|
- 4d gaussian splatting for real-time dynamic scene rendering
- Compact 3d gaussian representation for radiance field - 3DGS.svg)](https://github.com/maincold2/Compact-3DGS)<br>[](https://github.com/maincold2/Dynamic_C3DGS/)|[website](https://maincold2.github.io/c3dgs/)|
- Photo-slam: Real-time simultaneous localization and photorealistic mapping for monocular stereo and rgb-d cameras - SLAM.svg)](https://github.com/HuajianUP/Photo-SLAM)|[website](https://huajianup.github.io/research/Photo-SLAM/)|
- Gaussian-slam: Photo-realistic dense slam with gaussian splatting - SLAM.svg)](https://github.com/VladimirYugay/Gaussian-SLAM)|[website](https://vladimiryugay.github.io/gaussian_slam/)|
- 3d gaussian splatting for real-time radiance field rendering - inria/gaussian-splatting.svg)](https://github.com/graphdeco-inria/gaussian-splatting)|[website](https://repo-sam.inria.fr/fungraph/3d-gaussian-splatting/)|
- Gs-slam: Dense visual slam with 3d gaussian splatting - 3dv/diff-gaussian-rasterization-for-gsslam.svg)](https://github.com/yanchi-3dv/diff-gaussian-rasterization-for-gsslam)|[website](https://gs-slam.github.io/)|
- Gaussian splatting slam
- Splatam: Splat track & map 3d gaussians for dense rgb-d slam - tam/SplaTAM.svg)](https://github.com/spla-tam/SplaTAM)|[website](https://spla-tam.github.io/)|
- S3LAM: Surfel Splatting SLAM for Geometrically Accurate Tracking and Mapping - --|---|
- RGB-Only Gaussian Splatting SLAM for Unbounded Outdoor Scenes - SLAM.svg)](https://github.com/3DAgentWorld/OpenGS-SLAM)|[website](https://3dagentworld.github.io/opengs-slam/)|
- Outdoor Monocular SLAM with Global Scale-Consistent 3D Gaussian Pointmaps - GS.svg)](https://github.com/3DAgentWorld/S3PO-GS)|[website](https://3dagentworld.github.io/S3PO-GS/)|
- Constrained Gaussian Splatting via Implicit TSDF Hash Grid for Dense RGB-D SLAM - --|---|
- Mono-SLAM: Monocular 3D Gaussian Splatting SLAM with Geometric Loss and Multi-view Consistency - --|---|
- FusionGS-SLAM: Multiple Sensors Fusion for Localization and Real-Time Photorealistic Mapping - --|---|
- SAGA-SLAM: Scale-Adaptive 3D Gaussian Splatting for Visual SLAM - --|---|
- GRAND-SLAM: Local Optimization for Globally Consistent Large-Scale Multi-Agent Gaussian SLAM - --|---|
- Dense Monocular SLAM in Real-time with Structured Gaussian Representation - --|---|
- TVG-SLAM: Robust Gaussian Splatting SLAM with Tri-view Geometric Constraints - --|---|
- OGS-SLAM: Hybrid ORB-Gaussian Splatting SLAM - SLAM.svg)](https://github.com/realXiaohan/OGS-SLAM)|---|
- Globally Consistent RGB-D SLAM with 2D Gaussian Splatting - SLAM.svg)](https://github.com/PRBonn/2DGS-SLAM)|MASt3R for Loop Closure|
- VTGaussian-SLAM: RGBD SLAM for Large Scale Scenes with Splatting View-Tied 3D Gaussians - --|[website](https://machineperceptionlab.github.io/VTGaussian-SLAM-Project/)|
- VPGS-SLAM: Voxel-based Progressive 3D Gaussian SLAM in Large-Scale Scenes - slam.svg)](https://github.com/dtc111111/vpgs-slam)|---|
- ADD-SLAM: Adaptive Dynamic Dense SLAM with Gaussian Splatting - --|---|
- LGSBA: Local Gaussian Splatting Bundle Adjustment for Optimizing 3DGS Rendering Quality - 98/worse-pose-but-better-3DGS.svg)](https://github.com/wla-98/worse-pose-but-better-3DGS)|---|
- 4DTAM: Non-Rigid Tracking and Mapping via Dynamic Surface Gaussians
- UP-SLAM: Adaptively Structured Gaussian SLAM with Uncertainty Prediction in Dynamic Environments - --|[website](https://aczheng-cai.github.io/up_slam.github.io/)|
- DynaGSLAM: Real-Time Gaussian-Splatting SLAM for Online Rendering, Tracking, Motion Predictions of Moving Objects in Dynamic Scenes
- Large-Scale Gaussian Splatting SLAM - --|[website](https://lsgsslam.github.io/)|
- DSOSplat: Monocular 3D Gaussian SLAM with Direct Tracking - --|---|
- SEGS-SLAM: Structure-enhanced 3D Gaussian Splatting SLAM with Appearance Embedding - forever/SEGS-SLAM.svg)](https://github.com/leaner-forever/SEGS-SLAM)|[website](https://segs-slam.github.io/)|
- MGSO: Monocular Real-time Photometric SLAM with Efficient 3D Gaussian Splatting - --|---|
- SplatPose: Geometry-Aware 6-DoF Pose Estimation from Single RGB Image via 3D Gaussian Splatting - --|---|
- MG-SLAM: Structure Gaussian Splatting SLAM with Manhattan World Hypothesis - --|---|
- Dy3DGS-SLAM: Monocular 3D Gaussian Splatting SLAM for Dynamic Environments - --|---|
- GS4: Generalizable Sparse Splatting Semantic SLAM - --|[website](https://mingqij.github.io/projects/gs4/)|
- DyPho-SLAM: Real-time Photorealistic SLAM in Dynamic Environments - --|---|
- AGS: Accelerating 3D Gaussian Splatting SLAM via CODEC-Assisted Frame Covisibility Detection - --|---|
- FGO-SLAM: Enhancing Gaussian SLAM with Globally Consistent Opacity Radiance Field - --|---|
- GaussR-SLAM: Gaussian Robust SLAM in Data Loss and Interference Environments - --|---|
- MCGS-SLAM: A Multi-Camera SLAM Framework Using Gaussian Splatting for High-Fidelity Mapping - --|[website](https://anonymous.4open.science/w/MCGSSLAM-A8F8/)|
- Gaussian-Plus-SDF SLAM: High-fidelity 3D Reconstruction at 150+ fps - --|---|
- DyGS-SLAM: Real-Time Accurate Localization and Gaussian Reconstruction for Dynamic Scenes - --|---|
- Segs-slam: Structure-enhanced 3d gaussian splatting slam with appearance embedding - --|---|
- RoGER-SLAM: A Robust Gaussian Splatting SLAM System for Noisy and Low-light Environment Resilience - --|---|
- Splatonic: Architecture Support for 3D Gaussian Splatting SLAM via Sparse Processing - --|[website](https://stonesix16.github.io/splatonic/)|
- LEGO-SLAM: Language-Embedded Gaussian Optimization SLAM - of-AI-and-Robotics/LEGO-SLAM.svg)](https://github.com/Lab-of-AI-and-Robotics/LEGO-SLAM)|[website](https://lab-of-ai-and-robotics.github.io/LEGO-SLAM/)|
- Robust 3DGS-based SLAM via Adaptive Kernel Smoothing - --|---|
- VIGS-SLAM: Visual Inertial Gaussian Splatting SLAM - --|[website](https://vigs-slam.github.io/)|
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Event-based 3DGS
- E2D-GS: Event-Enhanced Deblurring Gaussian Splatting - --|---|
- Event-guided 3D Gaussian Splatting for Dynamic Human and Scene Reconstruction - --|---|
- DeblurSplat: SfM-free 3D Gaussian Splatting with Event Camera for Robust Deblurring - --|DUSt3R+Event+3DGS|
- E-4DGS: High-Fidelity Dynamic Reconstruction from the Multi-view Event Cameras - --|---|
- Ev3DGS: Event Enhanced 3D Gaussian Splatting from Blurry Images - --|
- E2gs: Event enhanced gaussian splatting - --|
- |[website](https://4dqv.mpi-inf.mpg.de/E3DGS/)<br>[test](https://kwanwaipang.github.io/E-3DGS/)|
- IncEventGS: Pose-Free Gaussian Splatting from a Single Event Camera - CVGL/IncEventGS.svg)](https://github.com/WU-CVGL/IncEventGS)|---|
- EventSplat: 3D Gaussian Splatting from Moving Event Cameras for Real-time Rendering - --|---|
- Evagaussians: Event stream assisted gaussian splatting from blurry images - YuanGroup/EvaGaussians.svg)](https://github.com/PKU-YuanGroup/EvaGaussians)|[website](https://www.falcary.com/EvaGaussians/)|
- Evggs: A collaborative learning framework for event-based generalizable gaussian splatting - --|
- Event3dgs: Event-based 3d gaussian splatting for fast egomotion - --|[website](https://tyxiong23.github.io/event3dgs)|
- DiET-GS: Diffusion Prior and Event Stream-Assisted Motion Deblurring 3D Gaussian Splatting Supplementary Material - GS/DiET-GS.svg)](https://github.com/DiET-GS/DiET-GS)|[website](https://diet-gs.github.io/)|
- GS2E: Gaussian Splatting is an Effective Data Generator for Event Stream Generation - YuanGroup/GS2E.svg)](https://github.com/PKU-YuanGroup/GS2E) |[website](https://intothemild.github.io/GS2E.github.io/)|
- EGS-SLAM: RGB-D Gaussian Splatting SLAM with Events - SLAM.svg)](https://github.com/Chensiyu00/EGS-SLAM)|---|
- E-4DGS: High-Fidelity Dynamic Reconstruction from the Multi-view Event Cameras - --|---|
- EDyGS: Event Enhanced Dynamic 3D Radiance Fields from Blurry Monocular Video - bmi-lab/EDyGS.svg)](https://github.com/zju-bmi-lab/EDyGS)|---|
- Ev3DGS: Event Enhanced 3D Gaussian Splatting from Blurry Images - --|
- Spike4DGS: Towards High-Speed Dynamic Scene Rendering with 4D Gaussian Splatting via a Spike Camera Array - --|---|
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LiDAR-based 3DGS
- Splat-LOAM: Gaussian Splatting LiDAR Odometry and Mapping - group/Splat-LOAM.svg)](https://github.com/rvp-group/Splat-LOAM)|[Test](https://kwanwaipang.github.io/Splat-LOAM/)|
- GS-LIVO: Real-Time LiDAR, Inertial, and Visual Multi-sensor Fused Odometry with Gaussian Mapping - Aerial-Robotics/GS-LIVO.svg)](https://github.com/HKUST-Aerial-Robotics/GS-LIVO) |---|
- LVI-GS: Tightly-coupled LiDAR-Visual-Inertial SLAM using 3D Gaussian Splatting - --|[website](https://kwanwaipang.github.io/LVI-GS/)|
- Gaussian-lic: Photo-realistic lidar-inertial-camera slam with 3d gaussian splatting - ZJU/Gaussian-LIC.svg)](https://github.com/APRIL-ZJU/Gaussian-LIC)|[website](https://xingxingzuo.github.io/gaussian_lic/)|
- TCLC-GS: Tightly Coupled LiDAR-Camera Gaussian Splatting for Autonomous Driving: Supplementary Materials - --|---|
- LiV-GS: LiDAR-Vision Integration for 3D Gaussian Splatting SLAM in Outdoor Environments - --|---|
- MM-Gaussian: 3D Gaussian-based multi-modal fusion for localization and reconstruction in unbounded scenes - --|---|
- LIV-GaussMap: LiDAR-inertial-visual fusion for real-time 3D radiance field map rendering - GaussMap.svg)](https://github.com/sheng00125/LIV-GaussMap)|---|
- Drivinggaussian: Composite gaussian splatting for surrounding dynamic autonomous driving scenes - --|
- GS-LIVM: Real-Time Photo-Realistic LiDAR-Inertial-Visual Mapping with Gaussian Splatting - LIVM.svg)](https://github.com/xieyuser/GS-LIVM)|---|
- Gaussian-LIC2: LiDAR-Inertial-Camera Gaussian Splatting SLAM - ZJU/Gaussian-LIC.svg)](https://github.com/APRIL-ZJU/Gaussian-LIC)|[website](https://xingxingzuo.github.io/gaussian_lic/)|[website](https://xingxingzuo.github.io/gaussian_lic2/)|
- LVD-GS: Gaussian Splatting SLAM for Dynamic Scenes via Hierarchical Explicit-Implicit Representation Collaboration Rendering - --|---|
- AgriGS-SLAM: Orchard Mapping Across Seasons via Multi-View Gaussian Splatting SLAM - POLIMI/agri-gs-slam.svg)](https://github.com/AIRLab-POLIMI/agri-gs-slam)|---|
- GS-SDF: LiDAR-Augmented Gaussian Splatting and Neural SDF for Geometrically Consistent Rendering and Reconstruction - mars/GS-SDF.svg)](https://github.com/hku-mars/GS-SDF)|[website](https://jianhengliu.github.io/Projects/GS-SDF/)|
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Other Resources
- MrNeRF's Awesome 3DGS
- convert 3D meshes into 3DGS
- Paper List
- Paper List
- Paper List
- Paper List
- Blog
- Blog
- Blog
- Blog
- Blog
- fast-gaussian-rasterization
- Revisiting Depth Representations for Feed-Forward 3D Gaussian Splatting - uofa/PM-Loss.svg)](https://github.com/aim-uofa/PM-Loss)|[website](https://aim-uofa.github.io/PMLoss/)|
- Voyager: Real-Time Splatting City-Scale 3D Gaussians on Your Phone - --|[website](https://voyager-web.netlify.app/)|
- R3GS: Gaussian Splatting for Robust Reconstruction and Relocalization in Unconstrained Image Collections - --|---|
- Recollection from Pensieve: Novel View Synthesis via Learning from Uncalibrated Videos - --|
- STORM: Spatio-Temporal Reconstruction Model for Large-Scale Outdoor Scenes - yang.github.io/STORM/)|
- Monocular Online Reconstruction with Enhanced Detail Preservation - --|[website](https://poiw.github.io/MODP/)|
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