awesome-Implicit-NeRF-SLAM

This repo contains a curative list of Implicit Representations and NeRF papers relating to SLAM/Robotics domain, inspired by Awesome-Implicit-NeRF-Robotics

Please feel free to send me pull requests or email to add papers!

If you find this repository useful, please consider citing and STARing this list. Feel free to share this list with others!

For an overview of NeRFs, checkout the Survey (Neural Volume Rendering: NeRF And Beyond and NeRF: Neural Radiance Field in 3D Vision, A Comprehensive Review), Blog post (NeRF Explosion 2020) and Collection (awesome-NeRF)

Overview

• NeRF General Model

• SLAM

  • Visual-SLAM
  • Lidar-SLAM
  • Multimodal-SLAM

• Robotics

  • Manipulation/RL

  • Planning/Navigation

  • Localization

• Citation

NeRF General Model

• NeRF: Representing Scenes as Neural Radiance Fields for View Synthesis, ECCV, 2020. [Paper] [Tensorflow Code] [Webpage] [Video]

• ShAPO: Implicit Representations for Multi Object Shape Appearance and Pose Optimization, ECCV, 2022. [Paper] [Pytorch Code] [Webpage] [Video]
• NCF: Neural Correspondence Field for Object Pose Estimation, ECCV, 2022. [Paper] [Pytorch Code] [Webpage]
• Neural-Sim: Learning to Generate Training Data with NeRF, ECCV 2022. [Paper] [Pytorch Code] [Webpage]
• SNAKE: SNAKE: Shape-aware Neural 3D Keypoint Field, NeurIPS, 2022. [Paper] [Pytorch Code]
• NeRF-RPN: A general framework for object detection in NeRFs, arXiv, 2022. [Paper] [Video]
• nerf2nerf: Pairwise Registration of Neural Radiance Fields, ICRA, 2023. [Paper] [Pytorch Code] [Webpage] [Dataset]
• iNeRF: Inverting Neural Radiance Fields for Pose Estimation, IROS, 2021. [Paper] [Pytorch Code] [Website] [Dataset]
• Point-NeRF: Point-based Neural Radiance Fields, CVPR, 2022. [Paper] [Pytorch Code] [Website]
• Zip-NeRF: Anti-Aliased Grid-Based Neural Radiance Fields, ICCV, 2023. [Paper] [Website] [Video]
• Mip-NeRF 360: Unbounded Anti-Aliased Neural Radiance Fields, CVPR, 2022. [Paper] [JAX Code] [Website] [Dataset] [Video]
• F2-NeRF: Fast Neural Radiance Field Training with Free Camera Trajectories, CVPR, 2023. [Paper] [Pytorch Code] [Website] [Dataset]
• 3D Gaussian Splatting for Real-Time Radiance Field Rendering, SIGGRAPH, 2023. [Paper] [Website]
• 2D Gaussian Splatting for Geometrically Accurate Radiance Fields, SIGGRAPH, 2024. [Paper] [Website] [Code]

SLAM

Survey Paper

• How NeRFs and 3D Gaussian Splatting are Reshaping SLAM: a Survey, arXiv, 2024.[Paper]
• SLAM Meets NeRF: A Survey of Implicit SLAM Methods, World Electric Vehicle Journal, 2024. [Paper]
• NeRF in Robotics: A Survey, arXiv, 2024.[Paper]

Benchmarks

• Customizable Perturbation Synthesis for Robust SLAM Benchmarking, arXiv, 2024.[Paper]
• Benchmarking Implicit Neural Representation and Geometric Rendering in Real-Time RGB-D SLAM, CVPR, 2024. [Paper] [Code] [Website]
• Benchmarking Neural Radiance Fields for Autonomous Robots: An Overview, arXiv, 2024.[Paper]

Visual-SLAM

• NeuralRecon: Real-Time Coherent 3D Reconstruction from Monocular Video, CVPR, 2021.[Paper] [Pytorch Code] [Website]

• Di-fusion: Online implicit 3d reconstruction with deep priors, CVPR, 2021.[Paper] [Pytorch Code]

• iSDF: Real-Time Neural Signed Distance Fields for Robot Perception, RSS, 2022. [Paper] [Pytorch Code] [Website]
• LENS: LENS: Localization enhanced by NeRF synthesis, CoRL, 2021. [Paper] [Video]
• NICE-SLAM: Neural Implicit Scalable Encoding for SLAM, CVPR, 2021. [Paper] [Pytorch Code] [Website]
• iMAP: Implicit Mapping and Positioning in Real-Time, ICCV, 2021. [Paper] [Website] [Video]
• BNV-Fusion: BNV-Fusion: Dense 3D Reconstruction using Bi-level Neural Volume Fusion, CVPR, 2022. [Paper] [Pytorch Code]
• NeRF-SLAM: Real-Time Dense Monocular SLAM with Neural Radiance Fields, IROS, 2023. [Paper] [Pytorch Code] [Video]
• Nerfels: Renderable Neural Codes for Improved Camera Pose Estimation, CVPR 2022 Workshop. [Paper]
• SDF-based RGB-D Camera Tracking in Neural Scene Representations, ICRA Workshop, 2022. [Paper]
• Orbeez-SLAM: A Real-time Monocular Visual SLAM with ORB Features and NeRF-realized Mapping, ICRA, 2023. [Paper] [Video] [Code]
• ESLAM: Efficient Dense SLAM System Based on Hybrid Representation of Signed Distance Fields, CVPR, 2023. [Paper]
• Vox-Fusion: Dense Tracking and Mapping with Voxel-based Neural Implicit Representation, ISMAR, 2022. [Paper] [Website] [Pytorch Code] [Video]
• Visual-Inertial Odometry Priors for Bundle-Adjusting Neural Radiance Fields, ICCAS, 2022. [Paper]
• Feature-Realistic Neural Fusion for Real-Time, Open Set Scene Understanding, ICRA, 2022. [Paper] [Website] [Video]
• Towards Open World NeRF-Based SLAM, CRV, 2023. [Paper]
• Dense RGB SLAM with Neural Implicit Maps, ICLR, 2023. [Paper] [Website] [Code] [Video]
• vMAP: Vectorised Object Mapping for Neural Field SLAM, CVPR, 2023. [Paper] [Website] [Pytorch Code] [Video]
• NICER-SLAM: Neural Implicit Scene Encoding for RGB SLAM, 3DV 2024. [Paper] [Video]
• Implicit Map Augmentation for Relocalization, ECCV Workshop, 2022. [Paper]
• Uni-Fusion: Universal Continuous Mapping, TRO, 2023.[Paper] [Code] [Website]
• NEWTON: Neural View-Centric Mapping for On-the-Fly Large-Scale SLAM, RAL, 2024. [Paper]
• Point-SLAM: Dense Neural Point Cloud-based SLAM, ICCV, 2023. [Paper] [Code]
• RO-MAP: Real-Time Multi-Object Mapping with Neural Radiance Fields, RAL, 2023. [Paper] [Code] [Video]
• Co-SLAM: Joint Coordinate and Sparse Parametric Encodings for Neural Real-Time SLAM, CVPR, 2023. [Paper] [Website]
• Neural Implicit Dense Semantic SLAM, arXiv, 2023. [Paper]
• FMapping: Factorized Efficient Neural Field Mapping for Real-Time Dense RGB SLAM, arXiv, 2023. [Paper] [Website] [Code]
• UncLe-SLAM: Uncertainty Learning for Dense Neural SLAM, arXiv, 2023. [Paper]
• iMODE:Real-Time Incremental Monocular Dense Mapping Using Neural Field, ICRA, 2023. [Paper]
• NISB-Map: Scalable Mapping With Neural Implicit Spatial Block, RAL, 2023. [Paper]
• RGB-D Mapping and Tracking in a Plenoxel Radiance Field, WACV, 2024. [Paper]
• Efficient Map Fusion for Multiple Implicit SLAM Agents, TIV, 2023. [Paper]
• MIPS-Fusion: Multi-Implicit-Submaps for Scalable and Robust Online Neural RGB-D Reconstruction, TOG, 2023. [Paper]
• GO-SLAM: Global Optimization for Consistent 3D Instant Reconstruction, ICCV, 2023. [Paper] [Website] [Code]
• End-to-End RGB-D SLAM with Multi-MLPs Dense Neural Implicit Representations, RAL, 2023. [Paper]
• DynaMoN: Motion-Aware Fast And Robust Camera Localization for Dynamic NeRF, arXiv, 2023. [Paper]
• HI-SLAM: Monocular Real-time Dense Mapping with Hybrid Implicit Fields, RAL, 2023. [Paper]
• CP-SLAM: Collaborative Neural Point-based SLAM, NeurIPS, 2023. [Paper]
• Learning Neural Implicit through Volume Rendering with Attentive Depth Fusion Priors, NeurIPS, 2023. [Paper] [Code] [Website]
• NGEL-SLAM: Neural Implicit Representation-based Global Consistent Low-Latency SLAM System, ICRA, 2024. [Paper] [Code]
• SNI-SLAM: Semantic Neural Implicit SLAM, CVPR, 2024. [Paper] [Code]
• Implicit Event-RGBD Neural SLAM, CVPR, 2024. [Paper]
• DNS SLAM: Dense Neural Semantic-Informed SLAM, arXiv, 2023. [Paper]
• PLGSLAM: Progressive Neural Scene Represenation with Local to Global Bundle Adjustment, CVPR, 2024. [Paper]
• NeRF-VO: Real-Time Sparse Visual Odometry with Neural Radiance Fields, arXiv, 2023. [Paper]
• Ternary-type Opacity and Hybrid Odometry for RGB-only NeRF-SLAM, arXiv, 2023. [Paper]
• DN-SLAM: A Visual SLAM with ORB Features and NeRF Mapping in Dynamic Environments, Sensors, 2023. [Paper]
• NID-SLAM: Neural Implicit Representation-based RGB-D SLAM in dynamic environments, arXiv, 2024. [Paper]
• DDN-SLAM: Real-time Dense Dynamic Neural Implicit SLAM with Joint Semantic Encoding, arXiv, 2024. [Paper]
• Hi-Map: Hierarchical Factorized Radiance Field for High-Fidelity Monocular Dense Mapping, arXiv, 2024. [Paper] [Website] [Code]
• NeuV-SLAM: Fast Neural Multiresolution Voxel Optimization for RGBD Dense SLAM, arXiv, 2024. [Paper] [Code]
• Structerf-SLAM: Neural implicit representation SLAM for structural environments, Computers & Graphics, 2024. [Paper]
• Loopy-SLAM: Dense Neural SLAM with Loop Closures, CVPR, 2024. [Paper]
• Q-SLAM: Quadric Representations for Monocular SLAM, arXiv, 2024. [Paper]
• DVN-SLAM: Dynamic Visual Neural SLAM Based on Local-Global Encoding, arXiv, 2024. [Paper]
• H3-Mapping: Quasi-Heterogeneous Feature Grids for Real-time Dense Mapping Using Hierarchical Hybrid Representation, arXiv, 2024. [Paper]
• Vox-Fusion++: Voxel-based Neural Implicit Dense Tracking and Mapping with Multi-maps, arXiv, 2024. [Paper] [Code]
• MUTE-SLAM: Real-Time Neural SLAM with Multiple Tri-Plane Hash Representations, arXiv, 2024. [Paper]
• GlORIE-SLAM: Globally Optimized RGB-only Implicit Encoding Point Cloud SLAM, arXiv, 2024. [Paper]
• Efficient 3D Instance Mapping and Localization with Neural Fields, arXiv, 2024. [Paper] [Website]
• NeSLAM: Neural Implicit Mapping and Self-Supervised Feature Tracking With Depth Completion and Denoising, arXiv, 2024. [Paper]
• KN-SLAM: Keypoints and Neural Implicit Encoding SLAM, TIM, 2024. [Paper]
• SLAIM: Robust Dense Neural SLAM for Online Tracking and Mapping, arXiv, 2024. [Paper]
• EC-SLAM: Real-time Dense Neural RGB-D SLAM System with Effectively Constrained Global Bundle Adjustment, arXiv, 2024. [Paper] [Code]
• S3-SLAM: Sparse Tri-plane Encoding for Neural Implicit SLAM, arXiv, 2024. [Paper]
• DF-SLAM: Neural Feature Rendering Based on Dictionary Factors Representation for High-Fidelity Dense Visual SLAM System, arXiv, 2024. [Paper] [Code]
• Neural Graph Mapping for Dense SLAM with Efficient Loop Closure, arXiv 2024. [Paper] [Code] [Website]
• MGS-SLAM: Monocular Sparse Tracking and Gaussian Mapping with Depth Smooth Regularization, arXiv 2024. [Paper]
• VPE-SLAM: Neural Implicit Voxel-Permutohedral Encoding for SLAM, ICRA 2024. [Paper] [Code]
• ONeK-SLAM: A Robust Object-Level Dense SLAM Based on Joint Neural Radiance Fields and Keypoints, ICRA 2024. [Paper]
• HERO-SLAM: Hybrid Enhanced Robust Optimization of Neural SLAM, ICRA 2024. [Paper] [Code] [Website]

Lidar-SLAM

• SHINE-Mapping: Large-Scale 3D Mapping Using Sparse Hierarchical Implicit Neural Representations, arXiv, 2022. [Paper] [Code]
• IRMCL: Implicit Representation-based Online Global Localization, arXiv, 2022. [Paper] [Code]
• Efficient Implicit Neural Reconstruction Using LiDAR, ICRA, 2023. [Paper] [Website] [Pytorch Code] [Video]
• NeRF-LOAM: Neural Implicit Representation for Large-Scale Incremental LiDAR Odometry and Mapping, ICCV, 2023. [Paper] [Code]
• NF-Atlas: Multi-Volume Neural Feature Fields for Large Scale LiDAR Mapping, arXiv, 2023. [Paper]
• Accurate Implicit Neural Mapping with More Compact Representation in Large-scale Scenes Using Ranging Data, RAL, 2023. [Paper]
• LONER: LiDAR Only Neural Representations for Real-Time SLAM, RAL, 2023. [Paper]
• PIN-SLAM: LiDAR SLAM Using a Point-Based Implicit Neural Representation for Achieving Global Map Consistency, arXiv, 2024. [Paper] [Code]
• Towards Large-Scale Incremental Dense Mapping using Robot-centric Implicit Neural Representation, ICRA, 2024. [Paper] [Code] [Video]

Multimodal NeRF SLAM

• Multi-Modal Neural Radiance Field for Monocular Dense SLAM with a Light-Weight ToF Sensor, ICCV, 2023. [Paper]
• NeuRSS: Enhancing AUV Localization and Bathymetric Mapping with Neural Rendering for Sidescan SLAM, arXiv, 2024. [Paper]

3D Gaussian Splatting Visual-SLAM

• GS-SLAM: Dense Visual SLAM with 3D Gaussian Splatting, CVPR, 2024. [Paper]
• Photo-SLAM: Real-time Simultaneous Localization and Photorealistic Mapping for Monocular, Stereo, and RGB-D Cameras, CVPR, 2024. [Paper]
• SplaTAM: Splat, Track & Map 3D Gaussians for Dense RGB-D SLAM, CVPR, 2024. [Paper] [Website] [Code]
• Gaussian Splatting SLAM, CVPR, 2024. [Paper] [Code] [Website]
• Gaussian-SLAM: Photo-realistic Dense SLAM with Gaussian Splatting, arXiv, 2023. [Paper] [Code] [Website]
• MoD-SLAM: Monocular Dense Mapping for Unbounded 3D Scene Reconstruction, arXiv, 2024. [Paper]
• SGS-SLAM: Semantic Gaussian Splatting For Neural Dense SLAM, arXiv, 2024. [Paper]
• SemGauss-SLAM: Dense Semantic Gaussian Splatting SLAM, arXiv, 2024. [Paper]
• Compact 3D Gaussian Splatting For Dense Visual SLAM, arXiv, 2024. [Paper]
• NEDS-SLAM: A Novel Neural Explicit Dense Semantic SLAM Framework using 3D Gaussian Splatting, arXiv, 2024. [Paper]
• High-Fidelity SLAM Using Gaussian Splatting with Rendering-Guided Densification and Regularized Optimization, arXiv, 2024. [Paper]
• RGBD GS-ICP SLAM, arXiv, 2024. [Paper] [Code]
• EndoGSLAM: Real-Time Dense Reconstruction and Tracking in Endoscopic Surgeries using Gaussian Splatting, arXiv, 2024. [Paper] [Website]
• CG-SLAM: Efficient Dense RGB-D SLAM in a Consistent Uncertainty-aware 3D Gaussian Field, arXiv, 2023. [Paper] [Code] [Website]
• RTG-SLAM: Real-time 3D Reconstruction at Scale using Gaussian Splatting, SIGGRAPH, 2024. [Paper] [Code]
• NGM-SLAM: Gaussian Splatting SLAM with Radiance Field Submap, arXiv, 2024. [Paper]

3D Gaussian Splatting Lidar-SLAM

Multimodal 3D Gaussian Splatting SLAM

• LIV-GaussMap: LiDAR-Inertial-Visual Fusion for Real-time 3D Radiance Field Map Rendering, arXiv, 2024. [Paper] [Code]
• HGS-Mapping: Online Dense Mapping Using Hybrid Gaussian Representation in Urban Scenes, arXiv, 2024. [Paper]
• MM3DGS SLAM: Multi-modal 3D Gaussian Splatting for SLAM Using Vision, Depth, and Inertial Measurements, arXiv, 2024. [Paper]
• MM-Gaussian: 3D Gaussian-based Multi-modal Fusion for Localization and Reconstruction in Unbounded Scenes, arXiv, 2024. [Paper]
• Gaussian-LIC: Photo-realistic LiDAR-Inertial-Camera SLAM with 3D Gaussian Splatting, arXiv, 2024. [Paper]

Robotics

Manipulation/RL

• Ditto: Building Digital Twins of Articulated Objects from Interaction, CVPR, 2022. [Paper] [Pytorch Code] [Website]

• Relational-NDF:SE(3)-Equivariant Relational Rearrangement with Neural Descriptor Fields, CoRL 2022. [Paper] [Pytorch Code] [Website]

• Neural Descriptor Fields:SE(3)-Equivariant Object Representations for Manipulation, ICRA, 2022. [Paper] [Pytorch Code] [Website]

• NeRF-RL: Reinforcement Learning with Neural Radiance Fields, arXiv, 2022. [Paper] [Website]

• Neural Motion Fields: Encoding Grasp Trajectories as Implicit Value Functions, RSS 2022. [Paper] [Video]

• Grasping Field: Learning Implicit Representations for Human Grasps, 3DV 2020. [Paper] [Pytorch Code] [Video]

• Dex-NeRF: Using a Neural Radiance Field to Grasp Transparent Objects, CoRL, 2021. [Paper] [Website]

• NeRF-Supervision: Learning Dense Object Descriptors from Neural Radiance Fields, ICRA, 2022. [Paper] [Pytorch Code] [Website]

• GIGA: Synergies Between Affordance and Geometry: 6-DoF Grasp Detection via Implicit Representations, RSS, 2021. [Paper] [Pytorch Code] [Website]

• NeuralGrasps: Learning Implicit Representations for Grasps of Multiple Robotic Hands, CoRL, 2022. [Paper] [Website]

• ObjectFolder: A Dataset of Objects with Implicit Visual, Auditory, and Tactile Representations, CoRL, 2021. [Paper] [Pytorch Code] [Website]

• ObjectFolder 2.0: A Multisensory Object Dataset for Sim2Real Transfer, CVPR, 2022. [Paper] [Pytorch Code] [Website]

• NeRF2Real: Sim2real Transfer of Vision-guided Bipedal Motion Skills using Neural Radiance Fields, arXiv, 2022. [Paper] [Website]

• NiFR: Neural Fields for Robotic Object Manipulation from a Single Image, arXiv, 2022. [Paper]

• Local Neural Descriptor Fields: Locally Conditioned Object Representations for Manipulation, ICRA, 2023. [Paper] [Code] [Website]

• Equivariant Descriptor Fields: SE(3)-Equivariant Energy-Based Models for End-to-End Visual Robotic Manipulation Learning, ICLR, 2023. [Paper] [Code]

Planning/Navigation

• NeRFlow: Neural Radiance Flow for 4D View Synthesis and Video Processing, ICCV, 2021. [Paper] [Pytorch Code] [Website]

• NeRF-Navigation: Vision-Only Robot Navigation in a Neural Radiance World, ICRA, 2022. [Paper] [Pytorch Code] [Website]

• Uncertainty Guided Policy for Active Robotic 3D Reconstruction using Neural Radiance Fields, RAL, 2022. [Paper] [Website]

• NeRF-dy: 3D Neural Scene Representations for Visuomotor Control, CoRL, 2021. [Paper] [Website]

• CompNeRFdyn: Learning Multi-Object Dynamics with Compositional Neural Radiance Fields, CoRL, 2022. [Paper] [Website]

• PIFO: Deep Visual Constraints: Neural Implicit Models for Manipulation Planning from Visual Input, RAL, 2022. [Paper] [Website]

• RedSDF: Regularized Deep Signed Distance Fields for Reactive Motion Generation, IROS, 2022. [Paper] [Website]

• ESDF: Sampling-free obstacle gradients and reactive planning in Neural Radiance Fields, ICRA, 2022. [Paper]

• Full-Body Visual Self-Modeling of Robot Morphologies, Science Robotics, 2022. [Paper] [Pytorch Code] [Website]

• CLIP-Fields: Open-label semantic navigation with pre-trained VLMs and language models, arXiv, 2022. [Paper] [Pytorch Code and Tutorials] [Website]

• Renderable Neural Radiance Map for Visual Navigation, CVPR, 2023. [Paper]

• NeRF-VINS: A Real-time Neural Radiance Field Map-based Visual-Inertial Navigation System, ICRA, 2024. [Paper]

• Splat-Nav: Safe Real-Time Robot Navigation in Gaussian Splatting Maps, arXiv, 2024. [Paper]

• GaussNav: Gaussian Splatting for Visual Navigation, arXiv, 2024. [Paper]

• Active Implicit Reconstruction Using One-Shot View Planning, ICRA, 2024. [Paper]

• How Many Views Are Needed to Reconstruct an Unknown Object Using NeRF?, ICRA, 2024. [Paper]

Localization

• Loc-NeRF: Monte Carlo Localization using Neural Radiance Fields, ICRA, 2023. [Paper]

• LocNDF: Neural Distance Field Mapping for Robot Localization, RAL, 2023. [Paper] [Pytorch Code]

• Leveraging Neural Radiance Fields for Uncertainty-Aware Visual Localization, ICRA, 2024. [Paper] [Video]

• The NeRFect Match: Exploring NeRF Features for Visual Localization, arXiv, 2024. [Paper]

Citation

If you find this repository useful, please consider citing this list:

@misc{doong2022implicitnerfslampaperlist,
    title = {awesome-Implicit-NeRF-SLAM},
    author = {Doong Li},
    journal = {GitHub repository},
    url = {https://github.com/DoongLi/awesome-Implicit-NeRF-SLAM},
    year = {2022},
}