Simultaneous Localization and Mapping

Description from the archive archive 2025-07-28.

Benchmarks archive 2025-07-28

No benchmark for this task in the archive.

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

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

Subtasks archive 2025-07-28

2 subtasks in the archive's task tree.

Parent tasks archive 2025-07-28

Most implemented papers archive 2025-07-28

30 shown of 186 papers with code (572 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.

• Visual-Inertial Monocular SLAM with Map Reuse
  19 Oct 2016 13 repositories listed
  In recent years there have been excellent results in Visual-Inertial Odometry techniques, which aim to compute the incremental motion of the sensor with high accuracy and robustness.
• 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).
• ORB-SLAM2: an Open-Source SLAM System for Monocular, Stereo and RGB-D Cameras
  20 Oct 2016 7 repositories listed Syntology ran 1 of 2 samples · 1 unverified
  We present ORB-SLAM2 a complete SLAM system for monocular, stereo and RGB-D cameras, including map reuse, loop closing and relocalization capabilities.
• Sparse-to-Dense: Depth Prediction from Sparse Depth Samples and a Single Image
  21 Sep 2017 6 repositories listed Syntology ran 1 of 1 samples · 0 unverified · 1 pointer-only (licence)
  We consider the problem of dense depth prediction from a sparse set of depth measurements and a single RGB image.
• Incremental Visual-Inertial 3D Mesh Generation with Structural Regularities
  4 Mar 2019 5 repositories listed
  We propose instead to tightly couple mesh regularization and state estimation by detecting and enforcing structural regularities in a novel factor-graph formulation.
• Online Spatial Concept and Lexical Acquisition with Simultaneous Localization and Mapping
  15 Apr 2017 5 repositories listed
  We have proposed a nonparametric Bayesian spatial concept acquisition model (SpCoA).
• EndoMapper dataset of complete calibrated endoscopy procedures
  29 Apr 2022 4 repositories listed
  Computer-assisted systems are becoming broadly used in medicine.
• LiDARTag: A Real-Time Fiducial Tag System for Point Clouds
  23 Aug 2019 4 repositories listed
  Because of the LiDAR sensors' nature, rapidly changing ambient lighting will not affect the detection of a LiDARTag; hence, the proposed fiducial marker can operate in a completely dark environment.
• Semi-Dense 3D Reconstruction with a Stereo Event Camera
  19 Jul 2018 4 repositories listed
  Event cameras are bio-inspired sensors that offer several advantages, such as low latency, high-speed and high dynamic range, to tackle challenging scenarios in computer vision.
• ROVER: A Multi-Season Dataset for Visual SLAM
  3 Dec 2024 3 repositories listed
  To address this gap, we present ROVER, a comprehensive benchmark dataset tailored for evaluating visual SLAM algorithms under diverse environmental conditions and spatial configurations.
• LF-VISLAM: A SLAM Framework for Large Field-of-View Cameras with Negative Imaging Plane on Mobile Agents
  12 Sep 2022 3 repositories listed
  As loop closure on wide-FoV panoramic data further comes with a large number of outliers, traditional outlier rejection methods are not directly applicable.
• Optimal Target Shape for LiDAR Pose Estimation
  2 Sep 2021 3 repositories listed
  However, symmetric shapes lead to pose ambiguity when using sparse sensor data such as LiDAR point clouds and suffer from the quantization uncertainty of the LiDAR.
• Semantic Histogram Based Graph Matching for Real-Time Multi-Robot Global Localization in Large Scale Environment
  19 Oct 2020 3 repositories listed
  The core problem of visual multi-robot simultaneous localization and mapping (MR-SLAM) is how to efficiently and accurately perform multi-robot global localization (MR-GL).
• DXSLAM: A Robust and Efficient Visual SLAM System with Deep Features
  12 Aug 2020 3 repositories listed
  For visual SLAM algorithms, though the theoretical framework has been well established for most aspects, feature extraction and association is still empirically designed in most cases, and can be vulnerable in complex…
• 3D Dynamic Scene Graphs: Actionable Spatial Perception with Places, Objects, and Humans
  15 Feb 2020 3 repositories listed Syntology ran 0 of 4 samples · 4 unverified
  Our second contribution is to provide the first fully automatic Spatial PerceptIon eNgine(SPIN) to build a DSG from visual-inertial data.
• Event-based Stereo Depth Estimation: A Survey
  26 Sep 2024 2 repositories listed Syntology ran 1 of 2 samples · 1 unverified · 2 pointer-only (licence)
  It is the first to extensively review DL methods as well as stereo datasets, even providing practical suggestions for creating new benchmarks to advance the field.
• SplaTAM: Splat, Track & Map 3D Gaussians for Dense RGB-D SLAM
  4 Dec 2023 2 repositories listed
  Dense simultaneous localization and mapping (SLAM) is crucial for robotics and augmented reality applications.
• Learning How To Robustly Estimate Camera Pose in Endoscopic Videos
  17 Apr 2023 2 repositories listed
  Purpose: Surgical scene understanding plays a critical role in the technology stack of tomorrow's intervention-assisting systems in endoscopic surgeries.
• Point-SLAM: Dense Neural Point Cloud-based SLAM
  9 Apr 2023 2 repositories listed Syntology ran 0 of 5 samples · 5 unverified
  We propose a dense neural simultaneous localization and mapping (SLAM) approach for monocular RGBD input which anchors the features of a neural scene representation in a point cloud that is iteratively generated in an…
• S3E: A Multi-Robot Multimodal Dataset for Collaborative SLAM
  25 Oct 2022 2 repositories listed
  The burgeoning demand for collaborative robotic systems to execute complex tasks collectively has intensified the research community's focus on advancing simultaneous localization and mapping (SLAM) in a cooperative…
• BoW3D: Bag of Words for Real-Time Loop Closing in 3D LiDAR SLAM
  15 Aug 2022 2 repositories listed
  To address this limitation, we present a novel Bag of Words for real-time loop closing in 3D LiDAR SLAM, called BoW3D.
• STUN: Self-Teaching Uncertainty Estimation for Place Recognition
  3 Mar 2022 2 repositories listed Syntology ran 1 of 9 samples · 8 unverified
  Then, supervised by the pretrained teacher net, a student net with an additional variance branch is trained to finetune the embedding priors and estimate the uncertainty sample by sample.
• Unsupervised Scale-consistent Depth Learning from Video
  25 May 2021 2 repositories listed
  We propose a monocular depth estimator SC-Depth, which requires only unlabelled videos for training and enables the scale-consistent prediction at inference time.
• CholecSeg8k: A Semantic Segmentation Dataset for Laparoscopic Cholecystectomy Based on Cholec80
  23 Dec 2020 2 repositories listed
  Each of these images is annotated at pixel-level for thirteen classes, which are commonly founded in laparoscopic cholecystectomy surgery.
• Self-Supervised Learning of Lidar Segmentation for Autonomous Indoor Navigation
  10 Dec 2020 2 repositories listed
  We provide insights into our network predictions and show that our approach can also improve the performances of common localization techniques.
• Robust Odometry and Mapping for Multi-LiDAR Systems with Online Extrinsic Calibration
  27 Oct 2020 2 repositories listed
  This paper proposes a system to achieve robust and simultaneous extrinsic calibration, odometry, and mapping for multiple LiDARs.
• Fast and Incremental Loop Closure Detection with Deep Features and Proximity Graphs
  29 Sep 2020 2 repositories listed
  In recent years, the robotics community has extensively examined methods concerning the place recognition task within the scope of simultaneous localization and mapping applications.
• A Fast and Robust Place Recognition Approach for Stereo Visual Odometry Using LiDAR Descriptors
  16 Sep 2019 2 repositories listed
  Place recognition is a core component of Simultaneous Localization and Mapping (SLAM) 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…
• PyRobot: An Open-source Robotics Framework for Research and Benchmarking
  19 Jun 2019 2 repositories listed
  This paper introduces PyRobot, an open-source robotics framework for research and benchmarking.

Syntology lines on 7 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.