Semantic SLAM

Description from the archive archive 2025-07-28.

Benchmarks archive 2025-07-28

2 leaderboard tables shown for this task, 2 with rows (a “benchmark” on this site is a table with at least one row, as on /sota), ordered by row count. “Best model” is the first row in the archive's own order at snapshot; nothing is re-ranked here and metric direction is not recorded in the archive. PwC's Trend sparklines are not in the archive, so that column is omitted.

Syntology column: samples harvested from the paper's repositories and executed on synthesized fixtures; “ran” is not a correctness claim and does not order the table. A dash means no Syntology record for that paper, not a recorded non-run. Read from the graph 2026-09-24.

Libraries

Not in the archive: the export carries no per-task library table, so there is nothing to show at snapshot 2025-07-28.

Datasets archive 2025-07-28

10 datasets whose archive record lists this task, ordered by the archive's paper count.

Subtasks archive 2025-07-28

No subtask under this task in the archive's task tree.

Parent tasks archive 2025-07-28

Most implemented papers archive 2025-07-28

19 shown of 19 papers with code (40 tagged with this task in all), ordered by repositories listed in the archive, not by stars (the archive holds no stars, so PwC's “Social” and “Latest” sorts cannot be reproduced). Papers without a page here are shown as plain text.

• Kimera: an Open-Source Library for Real-Time Metric-Semantic Localization and Mapping
  6 Oct 2019 12 repositories listed Syntology ran 0 of 5 samples · 5 unverified
  We provide an open-source C++ library for real-time metric-semantic visual-inertial Simultaneous Localization And Mapping (SLAM).
• KITTI-360: A Novel Dataset and Benchmarks for Urban Scene Understanding in 2D and 3D
  28 Sep 2021 2 repositories listed Syntology ran 2 of 16 samples · 14 unverified
  For the last few decades, several major subfields of artificial intelligence including computer vision, graphics, and robotics have progressed largely independently from each other.
• Large-scale Autonomous Flight with Real-time Semantic SLAM under Dense Forest Canopy
  14 Sep 2021 2 repositories listed
  Semantic maps represent the environment using a set of semantically meaningful objects.
• EAO-SLAM: Monocular Semi-Dense Object SLAM Based on Ensemble Data Association
  27 Apr 2020 2 repositories listed
  Object-level data association and pose estimation play a fundamental role in semantic SLAM, which remain unsolved due to the lack of robust and accurate algorithms.
• Dynamic-SLAM: Semantic monocular visual localization and mapping based on deep learning in dynamic environment
  6 Jul 2019 2 repositories listed
  Then, in view of low recall rate of the existing SSD object detection network, a missed detection compensation algorithm based on the speed invariance in adjacent frames is proposed, which greatly improves the recall…
• GeneA-SLAM2: Dynamic SLAM with AutoEncoder-Preprocessed Genetic Keypoints Resampling and Depth Variance-Guided Dynamic Region Removal
  3 Jun 2025 1 repository listed
  Therefore, this paper proposes a robust and efficient GeneA-SLAM2 system that leverages depth variance constraints to handle dynamic scenes.
• Open-Vocabulary Online Semantic Mapping for SLAM
  22 Nov 2024 1 repository listed
  This paper presents an Open-Vocabulary Online 3D semantic mapping pipeline, that we denote by its acronym OVO.
• Hier-SLAM: Scaling-up Semantics in SLAM with a Hierarchically Categorical Gaussian Splatting
  19 Sep 2024 1 repository listed Syntology ran 2 of 2 samples · 0 unverified
  Our \MethodName{} outperforms existing dense SLAM methods in both mapping and tracking accuracy, while achieving a 2x operation speed-up.
• SemGauss-SLAM: Dense Semantic Gaussian Splatting SLAM
  12 Mar 2024 1 repository listed Syntology ran 13 of 16 samples · 3 unverified · 16 pointer-only (licence)
  We propose SemGauss-SLAM, a dense semantic SLAM system utilizing 3D Gaussian representation, that enables accurate 3D semantic mapping, robust camera tracking, and high-quality rendering simultaneously.
• TextSLAM: Visual SLAM with Semantic Planar Text Features
  17 May 2023 1 repository listed
  The results show that integrating texture features leads to a more superior SLAM system that can match images across day and night.
• Det-SLAM: A semantic visual SLAM for highly dynamic scenes using Detectron2
  1 Oct 2022 1 repository listed
  According to experts, Simultaneous Localization and Mapping (SLAM) is an intrinsic part of autonomous robotic systems.
• Object Structural Points Representation for Graph-based Semantic Monocular Localization and Mapping
  21 Jun 2022 1 repository listed
  In this paper, we propose the use of an efficient representation, based on structural points, for the geometry of objects to be used as landmarks in a monocular semantic SLAM system based on the pose-graph formulation.
• DSP-SLAM: Object Oriented SLAM with Deep Shape Priors
  21 Aug 2021 1 repository listed
  We propose DSP-SLAM, an object-oriented SLAM system that builds a rich and accurate joint map of dense 3D models for foreground objects, and sparse landmark points to represent the background.
• Kimera-Multi: Robust, Distributed, Dense Metric-Semantic SLAM for Multi-Robot Systems
  28 Jun 2021 1 repository listed
  This paper presents Kimera-Multi, the first multi-robot system that (i) is robust and capable of identifying and rejecting incorrect inter and intra-robot loop closures resulting from perceptual aliasing, (ii) is fully…
• Visual Semantic SLAM with Landmarks for Large-Scale Outdoor Environment
  4 Jan 2020 1 repository listed
  Semantic SLAM is an important field in autonomous driving and intelligent agents, which can enable robots to achieve high-level navigation tasks, obtain simple cognition or reasoning ability and achieve language-based…
• TextSLAM: Visual SLAM with Planar Text Features
  26 Nov 2019 1 repository listed
  We propose to integrate text objects in man-made scenes tightly into the visual SLAM pipeline.
• MID-Fusion: Octree-based Object-Level Multi-Instance Dynamic SLAM
  19 Dec 2018 1 repository listed
  It can provide robust camera tracking in dynamic environments and at the same time, continuously estimate geometric, semantic, and motion properties for arbitrary objects in the scene.
• MaskFusion: Real-Time Recognition, Tracking and Reconstruction of Multiple Moving Objects
  24 Apr 2018 1 repository listed
  We present MaskFusion, a real-time, object-aware, semantic and dynamic RGB-D SLAM system that goes beyond traditional systems which output a purely geometric map of a static scene.
• Co-Fusion: Real-time Segmentation, Tracking and Fusion of Multiple Objects
  20 Jun 2017 1 repository listed
  In this paper we introduce Co-Fusion, a dense SLAM system that takes a live stream of RGB-D images as input and segments the scene into different objects (using either motion or semantic cues) while simultaneously…

Syntology lines on 4 of the papers shown; no Syntology record for the others (a paper without an arXiv id cannot be joined to the graph, and absence from the graph layer is not a recorded non-run). “Ran” means the sample executed on a synthesized fixture, not that the paper's result was reproduced. Read from the graph 2026-09-24.