{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/nerf-slam-real-time-dense-monocular-slam-with","title":"NeRF-SLAM: Real-Time Dense Monocular SLAM with Neural Radiance Fields","arxiv_id":"2210.13641","date":"2022-10-24","proceeding":null,"authors":["Antoni Rosinol","John J. Leonard","Luca Carlone"],"abstract":"We propose a novel geometric and photometric 3D mapping pipeline for accurate and real-time scene reconstruction from monocular images. To achieve this, we leverage recent advances in dense monocular SLAM and real-time hierarchical volumetric neural radiance fields. Our insight is that dense monocular SLAM provides the right information to fit a neural radiance field of the scene in real-time, by providing accurate pose estimates and depth-maps with associated uncertainty. With our proposed uncertainty-based depth loss, we achieve not only good photometric accuracy, but also great geometric accuracy. In fact, our proposed pipeline achieves better geometric and photometric accuracy than competing approaches (up to 179% better PSNR and 86% better L1 depth), while working in real-time and using only monocular images.","url_abs":"https://arxiv.org/abs/2210.13641v1","url_pdf":"https://arxiv.org/pdf/2210.13641v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"nerf-slam-real-time-dense-monocular-slam-with","repo_url":"https://github.com/ToniRV/NeRF-SLAM","is_official":1,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"pytorch","reach":{"status":"ok","spdx":"BSD-2-Clause"}}],"tasks":[{"task_slug":"nerf","task_name":"NeRF"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"syntology_url":null,"atlas_url":"https://app.syntology.ai/?focus=2210.13641","mcp":{"get_harvested_code_for_paper":{"arxiv_id":"2210.13641"}},"developers":"https://syntology.ai/developers","read_at":"2026-09-24T18:15:14+00:00","read_at_is":"when the build read Syntology's graph, not when any sample ran","claim":"Per-sample execution status on synthesized fixtures; not a correctness claim about the paper. Samples come from repositories linked to the paper, official or community; repo_kind says which.","repos":[{"provenance":"external:paperswithcode_snapshot_2025-07-28","url":"https://github.com/ToniRV/NeRF-SLAM","reach":{"status":"ok","spdx":"BSD-2-Clause"}}],"summary":{"unverified":1},"by_repo_kind":{"official":{"samples":1,"ran":0,"repositories":1}},"repo_kind_vocabulary":{"official":"The archive marks this repository official for the paper","named_in_paper":"The archive records that the paper mentions this repository; it is not marked official","listed":"In the archive's code links for this paper, not marked official and not recorded as mentioned in the paper","found_in_text":"Syntology found this repository in the paper's own text; whether it is the authors' implementation is not asserted","community":"Not in the archive's code links for this paper; a community repository Syntology harvested"},"n_pointer_only_for_licence":0,"samples":[{"code_sha256_prefix":"349c03a384755fab","entry":"vector3","repo":"ToniRV/NeRF-SLAM","repo_kind":"official","path":"slam/inertial_frontends/inertial_frontend.py","file_url":"https://github.com/ToniRV/NeRF-SLAM/blob/HEAD/slam/inertial_frontends/inertial_frontend.py","link_basis":"harvester_set","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"BSD-2-Clause","inline_ok":true,"mcp_get_code":{"code_sha256":"349c03a384755fab"}}]},"arxiv_metadata":null,"syntology_extracted_results":null}