Awesome 3D Scene Representation for Robotics

Awesome 3D Scene Representation for Robotics

This repo contains a curative list of 3D Scene Representation papers relating to the Robotics domain.

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!

Survey

[S0] What Is The Best 3D Scene Representation for Robotics? From Geometric to Foundation Models

🧑‍🔬 Author：Tianchen Deng, Yue Pan, Shenghai Yuan, Dong Li, et al.
🏫 Institute：Shanghai Jiao Tong University, University of Boon, Nanyang Technological University
🔗 Link：[arXiv:2512.03422]
[S1] Foundation Models in Robotics: Applications, Challenges, and the Future
🧑‍🔬 Author：Roya Firoozi, Johnathan Tucker, et al.
🏫 Institute：Stanford University, Princeton University
🔗 Link：[IJRR]
[S2] Toward General-Purpose Robots via Foundation Models: A Survey and Meta-Analysis
🧑‍🔬 Author：Yafei Hu, Quanting Xie, et al.
🏫 Institute：CMU, Bosch Center for AI, MIT
🔗 Link：[arXiv:2312.08782]
[S3] Advances in Feed-Forward 3D Reconstruction and View Synthesis: A Survey
🧑‍🔬 Author：Jiahui Zhang, Yuelei Li, et al.
🏫 Institute：NTU, Caltech
🔗 Link：[arXiv:2507.14501]
[S4] A Survey on 3D Gaussian Splatting
🧑‍🔬 Author：Guikun Chen, Wenguan Wang
🏫 Institute：Zhejiang University
🔗 Link：[arXiv:2401.03890]

[S5] 3D Gaussian as a New Vision Era: A Survey

🧑‍🔬 Author：Ben Fei, Jingyi Xu, Rui Zhang, Qingyuan Zhou, Weidong Yang, Ying He
🏫 Institute：Fudan University ⟐ Nanyang Technological University
🔗 Link：[IEEE Transactions on Visualization and Computer Graphics 2024]

General Model

3D Gaussian Splatting for Real-Time Radiance Field Rendering, SIGGRAPH, 2023. [Paper] [Website]

Photorealistic

Mip-splatting Alias-free 3d gaussian splatting, CVPR, 2024. [Paper] [Website] [Code]
FreGS: 3D Gaussian Splatting with Progressive Frequency Regularization, CVPR 2024. [Paper]
Gaussianshader: 3d gaussian splatting with shading functions for reflective surfaces, CVPR 2024. [Paper]
End-to-End Rate-Distortion Optimized 3D Gaussian Representation, ECCV, 2024. [Paper] [Website] [Code]
Analytic-Splatting: Anti-Aliased 3D Gaussian Splatting via Analytic Integration, ECCV 2024. [Paper]
Deblurring 3D Gaussian Splatting, ECCV, 2024. [Paper] [Code]
BAD-Gaussians: Bundle Adjusted Deblur Gaussian Splatting, ECCV, 2024. [Paper] [Code]
MIGS: Multi-Identity Gaussian Splatting via Tensor Decomposition, ECCV, 2024. [Paper]
Multi-Scale 3D Gaussian Splatting for Anti-Aliased Rendering, CVPR, 2024. [Paper]
Implicit Gaussian Splatting with Efficient Multi-Level Tri-Plane Representation, arXiv. [Paper]
GaussianPro: 3D Gaussian Splatting with Progressive Propagation, ICML 2024. [Paper] [Website] [Code]
Spectral-GS: Taming 3D Gaussian Splatting with Spectral Entropy, arXiv. [Paper]
RayGauss: Volumetric Gaussian-Based Ray Casting for Photorealistic Novel View Synthesis, arXiv. [Paper]
Spec-Gaussian: Anisotropic View-Dependent Appearance for 3D Gaussian Splatting, NeurIPS 2024. [Paper]
Gaussian Splatting with Localized Points Management, arXiv. [Paper]
GStex: Per-Primitive Texturing of 2D Gaussian Splatting for Decoupled Appearance and Geometry Modeling, arXiv. [Paper]
3iGS: Factorised Tensorial Illumination for 3D Gaussian Splatting, ECCV, 2024. [Paper]
SA-GS: Scale-Adaptive Gaussian Splatting for Training-Free Anti-Aliasing, arXiv. [Paper] [Website] [Code]
FreeGaussian: Guidance-free Controllable 3D Gaussian Splats with Flow Derivatives, arXiv. [Paper]
GS-Blur: A 3D Scene-Based Dataset for Realistic Image Deblurring, arXiv. [Paper]
GausSurf: Geometry-Guided 3D Gaussian Splatting for Surface Reconstruction, arXiv. [Paper]
SfM-Free 3D Gaussian Splatting via Hierarchical Training, arXiv. [Paper]
Reflective Gaussian Splatting, arXiv. [Paper]

Sparse View

Fast Dynamic 3D Object Generation from a Single-view Video, arXiv. [Paper] [Website] [Code]
GaussianObject: High-Quality 3D Object Reconstruction from Four Views with Gaussian Splatting, ACM Transactions on Graphics. [Paper] [Website] [Code]
LGM: Large Multi-View Gaussian Model for High-Resolution 3D Content Creation, ECCV 2024. [Paper] [Website] [Code]
IM-3D: Iterative Multiview Diffusion and Reconstruction for High-Quality 3D Generation, arXiv. [Paper] [Website]
FDGaussian: Fast Gaussian Splatting from Single Image via Geometric-aware Diffusion Model, arXiv. [Paper] [Website]
Depth-Regularized Optimization for 3D Gaussian Splatting in Few-Shot Images, CVPRW, 2024. [Paper] [Website] [Code]
DNGaussian: Optimizing Sparse-View 3D Gaussian Radiance Fields with Global-Local Depth Normalization, CVPR, 2024. [Paper] [Website] [Code]
MVSplat: Efficient 3D Gaussian Splatting from Sparse Multi-View Images, ECCV, 2024. [Paper] [Website] [Code]
latentSplat: Autoencoding Variational Gaussians for Fast Generalizable 3D Reconstruction, ECCV 2024. [Paper] [Website] [Code]
GRM: Large Gaussian Reconstruction Model for Efficient 3D Reconstruction and Generation, arXiv. [Paper] [Website] [Code]
Gamba: Marry Gaussian Splatting with Mamba for single view 3D reconstruction, arXiv. [Paper]
CoherentGS: Sparse Novel View Synthesis with Coherent 3D Gaussians, ECCV, 2024. [Paper] [Website]
InstantSplat: Unbounded Sparse-view Pose-free Gaussian Splatting in 40 Seconds, arXiv. [Paper] [Website]
Sp²360: Sparse-view 360 Scene Reconstruction using Cascaded 2D Diffusion Priors, arXiv. [Paper]
SparseGS: Real-Time 360° Sparse View Synthesis using Gaussian Splatting, arXiv. [Paper] [Website]
FSGS: Real-Time Few-shot View Synthesis using Gaussian Splatting, ECCV, 2024. [Paper] [Website] [Code]
pixelSplat: 3D Gaussian Splats from Image Pairs for Scalable Generalizable 3D Reconstruction, CVPR, 2024. [Paper] [Website] [Code]
Splatter Image: Ultra-Fast Single-View 3D Reconstruction, CVPR, 2024. [Paper] [Website] [Code]
EndoSparse: Real-Time Sparse View Synthesis of Endoscopic Scenes using Gaussian Splatting, MICCAI, 2024. [Paper] [Code]
Learning 3D Gaussians for Extremely Sparse-View Cone-Beam CT Reconstruction, MICCAI, 2024. [Paper] [Code]
CoR-GS: Sparse-View 3D Gaussian Splatting via Co-Regularization, ECCV, 2024. [Paper]
LoopSparseGS: Loop Based Sparse-View Friendly Gaussian Splatting, arXiv. [Paper]
Self-augmented Gaussian Splatting with Structure-aware Masks for Sparse-view 3D Reconstruction, arXiv. [Paper]
ReconX: Reconstruct Any Scene from Sparse Views with Video Diffusion Model, arXiv. [Paper]
LM-Gaussian: Boost Sparse-view 3D Gaussian Splatting with Large Model Priors, arXiv. [Paper]
Optimizing 3D Gaussian Splatting for Sparse Viewpoint Scene Reconstruction, arXiv. [Paper]
Object Gaussian for Monocular 6D Pose Estimation from Sparse Views, arXiv. [Paper]
Single-View 3D Reconstruction via SO(2)-Equivariant Gaussian Sculpting Networks, arXiv. [Paper]
Vista3D: Unravel the 3D Darkside of a Single Image, arXiv. [Paper]
MVPGS: Excavating Multi-view Priors for Gaussian Splatting from Sparse Input Views, ECCV 2024. [Paper]
Learn to Optimize Denoising Scores for 3D Generation: A Unified and Improved Diffusion Prior on NeRF and 3D Gaussian Splatting, ECCV, 2024. [Paper] [Code]
Self-Evolving Depth-Supervised 3D Gaussian Splatting from Rendered Stereo Pairs, BMVC 2024. [Paper]
Frequency-based View Selection in Gaussian Splatting Reconstruction, arXiv. [Paper]
GSD: View-Guided Gaussian Splatting Diffusion for 3D Reconstruction, ECCV, 2024. [Paper]
3DGS-Enhancer: Enhancing Unbounded 3D Gaussian Splatting with View-consistent 2D Diffusion Priors, NeurIPS 2024. [Paper]
Binocular-Guided 3D Gaussian Splatting with View Consistency for Sparse View Synthesis, NeurIPS 2024. [Paper]
No Pose, No Problem: Surprisingly Simple 3D Gaussian Splats from Sparse Unposed Images, arXiv. [Paper]
Epipolar-Free 3D Gaussian Splatting for Generalizable Novel View Synthesis, arXiv. [Paper]
MVSplat360: Feed-Forward 360 Scene Synthesis from Sparse Views, arXiv. [Paper]
Structure Consistent Gaussian Splatting with Matching Prior for Few-shot Novel View Synthesis, arXiv. [Paper]
FewViewGS: Gaussian Splatting with Few View Matching and Multi-stage Training, arXiv. [Paper]
GPS-Gaussian+: Generalizable Pixel-wise 3D Gaussian Splatting for Real-Time Human-Scene Rendering from Sparse Views, arXiv. [Paper]
SmileSplat: Generalizable Gaussian Splats for Unconstrained Sparse Images, arXiv. [Paper]
NovelGS: Consistent Novel-view Denoising via Large Gaussian Reconstruction Model, arXiv. [Paper]
SelfSplat: Pose-Free and 3D Prior-Free Generalizable 3D Gaussian Splatting, arXiv. [Paper]
PreF3R: Pose-Free Feed-Forward 3D Gaussian Splatting from Variable-length Image SequencePreF3R: Pose-Free Feed-Forward 3D Gaussian Splatting from Variable-length Image Sequence, arXiv. [Paper]
ZeroGS: Training 3D Gaussian Splatting from Unposed Images, arXiv. [Paper]
Speedy-Splat: Fast 3D Gaussian Splatting with Sparse Pixels and Sparse Primitives, arXiv. [Paper]
Sparse Voxels Rasterization: Real-time High-fidelity Radiance Field Rendering, arXiv. [Paper]
Volumetrically Consistent 3D Gaussian Rasterization, arXiv. [Paper]
PanSplat: 4K Panorama Synthesis with Feed-Forward Gaussian Splatting, arXiv. [Paper]
FreeSplatter: Pose-free Gaussian Splatting for Sparse-view 3D Reconstruction, arXiv. [Paper]
GBR: Generative Bundle Refinement for High-fidelity Gaussian Splatting and Meshing, arXiv. [Paper]
TSGaussian: Semantic and Depth-Guided Target-Specific Gaussian Splatting from Sparse Views, arXiv. [Paper]
Dust to Tower: Coarse-to-Fine Photo-Realistic Scene Reconstruction from Sparse Uncalibrated Images, arXiv. [Paper]
Gaussian Masked Autoencoders, arXiv. [Paper]
FatesGS: Fast and Accurate Sparse-View Surface Reconstruction using Gaussian Splatting with Depth-Feature Consistency, arXiv. [Paper]
FeatureGS: Eigenvalue-Feature Optimization in 3D Gaussian Splatting for Geometrically Accurate and Artifact-Reduced Reconstruction, arXiv. [Paper]
See In Detail: Enhancing Sparse - view 3D Gaussian Splatting with Local Depth and Semantic Regularization, arXiv. [Paper]
RDG - GS: Relative Depth Guidance with Gaussian Splatting for Real - time Sparse - View 3D Rendering, arXiv. [Paper]
PoI: Pixel of Interest for Novel View Synthesis Assisted Scene Coordinate Regression, arXiv. [Paper]
Splatter-360: Generalizable 360∘ Gaussian Splatting for Wide-baseline Panoramic Images, arXiv. [Paper]

Accelerate & Compression

Hash3D: Training-free Acceleration for 3D Generation, arXiv. [Paper] [Website] [Code]
Characterizing Satellite Geometry via Accelerated 3D Gaussian Splatting, arXiv. [Paper]
TRIPS: Trilinear Point Splatting for Real-Time Radiance Field Rendering, arXiv. [Paper] [Website] [Code]
GaussianImage: 1000 FPS Image Representation and Compression by 2D Gaussian Splatting, arXiv. [Paper]
TOGS: Gaussian Splatting with Temporal Opacity Offset for Real-Time 4D DSA Rendering, arXiv. [Paper]
Periodic Vibration Gaussian: Dynamic Urban Scene Reconstruction and Real-time Rendering, arXiv. [Paper] [Website] [Code]
Triplane Meets Gaussian Splatting: Fast and Generalizable Single-View 3D Reconstruction with Transformers, CVPR 2024. [Paper] [Website] [Code]
DISTWAR: Fast Differentiable Rendering on Raster-based Rendering Pipelines, arXiv. [Paper]
EAGLES: Efficient Accelerated 3D Gaussians with Lightweight EncodingS, ECCV 2024. [Paper] [Website] [Code]
Optimal Projection for 3D Gaussian Splatting, arXiv. [Paper]
StopThePop: Sorted Gaussian Splatting for View-Consistent Real-time Rendering, arXiv. [Paper] [Website] [Code]
GES: Generalized Exponential Splatting for Efficient Radiance Field Rendering, CVPR, 2024*. [Paper] [Website] [Code]
Identifying Unnecessary 3D Gaussians using Clustering for Fast Rendering of 3D Gaussian Splatting, arXiv. [Paper]
RadSplat: Radiance Field-Informed Gaussian Splatting for Robust Real-Time Rendering with 900+ FPS, arXiv. [Paper] [Website]
Mini-Splatting: Representing Scenes with a Constrained Number of Gaussians, arXiv. [Paper]
Pixel-GS: Density Control with Pixel-aware Gradient for 3D Gaussian Splatting, arXiv. [Paper]
Octree-GS: Towards Consistent Real-time Rendering with LOD-Structured 3D Gaussians, arXiv. [Paper] [Website] [Code]
OmniGS: Omnidirectional Gaussian Splatting for Fast Radiance Field Reconstruction using Omnidirectional Images, WACV 2025. [Paper]
GSCore: Efficient Radiance Field Rendering via Architectural Support for 3D Gaussian Splatting, ASPLOS 2024. [Paper]
Scaffold-GS: Structured 3D Gaussians for View-Adaptive Rendering, CVPR, 2024. [Paper] [Website] [Code]
Superpoint Gaussian Splatting for Real-Time High-Fidelity Dynamic Scene Reconstruction, ICML, 2024. [Paper]
FastScene: Text-Driven Fast 3D Indoor Scene Generation via Panoramic Gaussian Splatting, IJCAI, 2024. [Paper]
Compressed 3D Gaussian Splatting for Accelerated Novel View Synthesis, CVPR, 2024. [Paper] [Code]
Compact3D: Smaller and Faster Gaussian Splatting with Vector Quantization, ECCV, 2024. [Paper] [Code]
HAC: Hash-grid Assisted Context for 3D Gaussian Splatting Compression, ECCV, 2024. [Paper] [Code]
Compact 3D Gaussian Representation for Radiance Field, CVPR, 2024. [Paper] [Code]
Fast Generalizable Gaussian Splatting Reconstruction from Multi-View Stereo, ECCV, 2024. [Paper] [Code]
MVG-Splatting: Multi-View Guided Gaussian Splatting with Adaptive Quantile-Based Geometric Consistency Densification, arXiv. [Paper]
Splatfacto-W: A Nerfstudio Implementation of Gaussian Splatting for Unconstrained Photo Collections, arXiv. [Paper]
Compact 3D Gaussian Splatting for Static and Dynamic Radiance Fields, arXiv. [Paper]
FLoD: Integrating Flexible Level of Detail into 3D Gaussian Splatting for Customizable Rendering, TOG, 2025. [Paper]
Robust 3D Gaussian Splatting for Novel View Synthesis in Presence of Distractors, arXiv. [Paper]
PRoGS: Progressive Rendering of Gaussian Splats, arXiv. [Paper]
Weight Conditioning for Smooth Optimization of Neural Networks, arXiv. [Paper]
3DGS-LM: Faster Gaussian-Splatting Optimization with Levenberg-Marquardt, arXiv. [Paper]
MesonGS: Post-training Compression of 3D Gaussians via Efficient Attribute Transformation, ECCV 2024. [Paper]
VR-Splatting: Foveated Radiance Field Rendering via 3D Gaussian Splatting and Neural Points, arXiv. [Paper]
Sort-free Gaussian Splatting via Weighted Sum Rendering, arXiv. [Paper]
LightGaussian: Unbounded 3D Gaussian Compression with 15x Reduction and 200+ FPS, NeurIPS 2024. [Paper] [Code]
ELMGS: Enhancing memory and computation scaLability through coMpression for 3D Gaussian Splatting, arXiv. [Paper]
A Hierarchical Compression Technique for 3D Gaussian Splatting Compression, arXiv. [Paper]
DyGASR: Dynamic Generalized Exponential Splatting with Surface Alignment for Accelerated 3D Mesh Reconstruction, arXiv. [Paper]
Projecting Gaussian Ellipsoids While Avoiding Affine Projection Approximation, arXiv. [Paper]
Mini-Splatting2: Building 360 Scenes within Minutes via Aggressive Gaussian Densification, arXiv. [Paper]
SCIGS: 3D Gaussians Splatting from a Snapshot Compressive Image, arXiv. [Paper]
Beyond Gaussians: Fast and High-Fidelity 3D Splatting with Linear Kernels, arXiv. [Paper]
3D Convex Splatting: Radiance Field Rendering with 3D Smooth Convexes3D Convex Splatting: Radiance Field Rendering with 3D Smooth Convexes, arXiv. [Paper]
Textured Gaussians for Enhanced 3D Scene Appearance Modeling, arXiv. [Paper]
HEMGS: A Hybrid Entropy Model for 3D Gaussian Splatting Data Compression, arXiv. [Paper]
Pushing Rendering Boundaries: Hard Gaussian Splatting, arXiv. [Paper]
Faster and Better 3D Splatting via Group Training, arXiv. [Paper]
Temporally Compressed 3D Gaussian Splatting for Dynamic Scenes, arXiv. [Paper]
QUEEN: QUantized Efficient ENcoding of Dynamic Gaussians for Streaming Free-viewpoint Videos, arXiv. [Paper]
SG-Splatting: Accelerating 3D Gaussian Splatting with Spherical Gaussians, arXiv. [Paper]
Locality-aware Gaussian Compression for Fast and High-quality Rendering, arXiv. [Paper]
Trick-GS: A Balanced Bag of Tricks for Efficient Gaussian Splatting, arXiv. [Paper]
HAC++: Towards 100X Compression of 3D Gaussian Splatting, arXiv. [Paper]
GoDe: Gaussians on Demand for Progressive Level of Detail and Scalable Compressiong, arXiv. [Paper]
Exploring the Versal AI Engine for 3D Gaussian Splatting, arXiv. [Paper]

Geometry & Physics

2D Gaussian Splatting for Geometrically Accurate Radiance Fields, SIGGRAPH, 2024. [Paper] [Website] [Code]
Gaussian Splashing: Dynamic Fluid Synthesis with Gaussian Splatting, arXiv. [Paper] [Website]
GaMeS: Mesh-Based Adapting and Modification of Gaussian Splatting, arXiv. [Paper] [Code]
Mesh-based Gaussian Splatting for Real-time Large-scale Deformation, arXiv. [Paper]
Reconstruction and Simulation of Elastic Objects with Spring-Mass 3D Gaussians, arXiv. [Paper] [Website] [Code]
Texture-GS: Disentangling the Geometry and Texture for 3D Gaussian Splatting Editing, arXiv. [Paper] [Website] [Code]
DN-Splatter: Depth and Normal Priors for Gaussian Splatting and Meshing, arXiv. [Paper] [Website] [Code]
Feature Splatting: Language-Driven Physics-Based Scene Synthesis and Editing, ECCV, 2024. [Paper] [Website] [Code]
Surface Reconstruction from Gaussian Splatting via Novel Stereo Views, ECCV, 2024. [Paper] [Website]
RaDe-GS: Rasterizing Depth in Gaussian Splatting, arXiv. [Paper] [Website]
Trim 3D Gaussian Splatting for Accurate Geometry Representation, arXiv. [Paper] [Website] [Code]
Effective Rank Analysis and Regularization for Enhanced 3D Gaussian Splatting, arXiv. [Paper] [Website]
PhysGaussian: Physics-Integrated 3D Gaussians for Generative Dynamics, CVPR, 2024. [Paper] [Website] [Code]
SuGaR: Surface-Aligned Gaussian Splatting for Efficient 3D Mesh Reconstruction and High-Quality Mesh Rendering, CVPR, 2024. [Paper] [Website] [Code]
NeuSG: Neural Implicit Surface Reconstruction with 3D Gaussian Splatting Guidance, arXiv. [Paper]
Projecting Radiance Fields to Mesh Surfaces, SIGGRAPH, 2024. [Paper]
GVKF: Gaussian Voxel Kernel Functions for Highly Efficient Surface Reconstruction in Open Scenes, NeurIPS 2024. [Paper]
GeoGaussian: Geometry-aware Gaussian Splatting for Scene Rendering, arXiv. [Paper]
Enhancement of 3D Gaussian Splatting using Raw Mesh for Photorealistic Recreation of Architectures, arXiv. [Paper]
Integrating Meshes and 3D Gaussians for Indoor Scene Reconstruction with SAM Mask Guidance, arXiv. [Paper]
2DGH: 2D Gaussian-Hermite Splatting for High-quality Rendering and Better Geometry Reconstruction, arXiv. [Paper]
Depth Estimation Based on 3D Gaussian Splatting Siamese Defocus, arXiv. [Paper]
DepthSplat: Connecting Gaussian Splatting and Depth, arXiv. [Paper]
Quadratic Gaussian Splatting for Efficient and Detailed Surface Reconstruction, arXiv. [Paper]
Geometry Field Splatting with Gaussian Surfels, arXiv. [Paper]
G2SDF: Surface Reconstruction from Explicit Gaussians with Implicit SDFs, arXiv. [Paper]
GSurf: 3D Reconstruction via Signed Distance Fields with Direct Gaussian Supervision, arXiv. [Paper]
SplatSDF: Boosting Neural Implicit SDF via Gaussian Splatting Fusion, arXiv. [Paper]
Generative Densification: Learning to Densify Gaussians for High-Fidelity Generalizable 3D Reconstruction, arXiv. [Paper]
Pgsr: Planar-based gaussian splatting for efficient and high-fidelity surface reconstruction, TVCG 2024. [Paper]
Gasp: Gaussian splatting for physic-based simulations,arXiv. [Paper]
Physics3D: Learning Physical Properties of 3D Gaussians via Video Diffusion,arXiv. [Paper]
CDGS: Confidence-Aware Depth Regularization for 3D Gaussian Splatting, arXiv. [Paper]

1.Perception

1.1 Point Cloud

PIXOR: Real-time 3D Object Detection from Point Clouds, CVPR, 2018. [Paper][Code]
PointPillars: Fast Encoders for Object Detection From Point Clouds, CVPR, 2019. [Paper][Code]
3DSSD: Point-based 3D Single Stage Object Detector, CVPR, 2020. [Paper][Code]
Self-Supervised Learning of Scene-Graph Representations for Robotic Sequential Manipulation Planning, CoRL, 2020. [Paper]
PointContrast: Unsupervised Pre-training for 3D Point Cloud Understanding, ECCV, 2020. [Paper][Code]
Multimodal Virtual Point 3D Detection, NeurIPS, 2021. [Paper][Code]
Center-based 3D Object Detection and Tracking, CVPR, 2021. [Paper][Code]
SceneGraphFusion: Incremental 3D Scene Graph Prediction from RGB-D Sequences, CVPR, 2021. [Paper][Code][Website]
A Unified Query-based Paradigm for Point Cloud Understanding， CVPR, 2022. [Paper][Code]

1.2 Voxel Grid

OctoMap: AnEfficient Probabilistic 3D Mapping Framework Based on Octrees, AUTON ROBOT, 2013. [Paper][Code]
VoxelNet: End-to-End Learning for Point Cloud Based 3D Object Detection, CVPR, 2018. [Paper][Website]
VMNet: Voxel-Mesh Network for Geodesic-Aware 3D Semantic Segmentation, ICCV, 2021. [Paper][Code]
VoxFormer: Sparse Voxel Transformer for Camera-based 3D Semantic Scene Completion, CVPR, 2023. [Paper][Code]

1.3 Signed Distance Field (SDF)

SurroundSDF: Implicit 3D Scene Understanding Based on Signed Distance Field, CVPR, 2024. [Paper][Code][Website]

1.4 Mesh

1.5 Scene Graph

3D Scene Graph: A structure for unified semantics, 3D space, and camera, ICCV, 2019. [Paper][Code]
Hydra: A Real-time Spatial Perception System for 3D Scene Graph Construction and Optimization, RSS, 2022. [Paper][Code]
SGFormer: Semantic Graph Transformer for Point Cloud-Based 3D Scene Graph Generation, AAAI, 2024. [Paper][Code]

1.6 Neural Radiance Fields (NeRF)

CLIP-NeRF: Text-and-Image Driven Manipulation of Neural Radiance Fields, CVPR, 2022. [Paper][Code][Website]
LERF: Language Embedded Radiance Fields, ICCV, 2023. [Paper][Code][Website]
NeRF-Det: Learning Geometry-Aware Volumetric Representation for Multi-View 3D Object Detection, ICCV, 2023, [Paper][Code][Website]
SNI-SLAM: Semantic Neural Implicit SLAM, CVPR, 2024. [Paper][Code]
GaussianFormer: Scene as Gaussians for Vision-Based 3D Semantic Occupancy Prediction, ECCV, 2024. [Paper] [Code][Website]
2D-Guided 3D Gaussian Segmentation, ASIANComNet, 2024. [Paper]
GO-N3RDet: Geometry Optimized NeRF-enhanced 3D Object Detector, CVPR, 2025, [Paper][Code]

1.7 3D Gaussian Splatting (3DGS)

6DGS: 6D Pose Estimation from a Single Image and a 3D Gaussian Splatting Model, ECCV, 2024. [Paper][Code][Website]
GOI: Find 3D Gaussians of Interest with an Optimizable Open-vocabulary Semantic-space Hyperplane, MM, 2024. [Paper][Code][Website]
Click-Gaussian: Interactive Segmentation to Any 3D Gaussians, ECCV, 2024. [Paper][Website]
GS2Pose: Two-stage 6D Object Pose Estimation Guided by Gaussian Splatting, CVPR, 2024. [Website]
Gaussian Grouping: Segment and Edit Anything in 3D Scenes, ECCV, 2024. [Paper] [Code][Website]
SRIF: Semantic Shape Registration Empowered by Diffusion-based Image Morphing and Flow Estimation, SA, 2024. [Paper][Code]
OpenGaussian: Towards Point-Level 3D Gaussian-based Open Vocabulary Understanding, NeurIPS, 2024. [Paper][Code][Website]
Feature 3DGS: Supercharging 3D Gaussian Splatting to Enable Distilled Feature Fields, CVPR, 2024. [Paper][Code][Website]
Language Embedded 3D Gaussians for Open-Vocabulary Scene Understanding, CVPR, 2024. [Paper][Code][Website]
LangSplat: 3D Language Gaussian Splatting, CVPR, 2024. [Paper][Code][Website]
FMGS: Foundation Model Embedded 3D Gaussian Splatting for Holistic 3D Scene Understanding,IJCV, 2024. [Paper][Code][Website]
EgoLifter: Open-world 3D Segmentation for Egocentric Perception, ECCV, 2024. [Paper][Code][Website]
Touch-GS: Visual-Tactile Supervised 3D Gaussian Splatting, IROS 2024. [Paper][Code][Website]
EvGGS: A Collaborative Learning Framework for Event-based Generalizable Gaussian Splatting, ICML, 2024. [Paper][Code]
Object and Contact Point Tracking in Demonstrations Using 3D Gaussian Splatting, CoRL, 2024. [Paper]
GaussianCut: Interactive segmentation via graph cut for 3D Gaussian Splatting, NeurIPS, 2024. [Paper][Code][Website]
A General Framework to Boost 3D GS Initialization for Text-to-3D Generation by Lexical Richness, MM, 2024. [Paper][Code][Website]
Language-Embedded Gaussian Splats (LEGS): Incrementally Building Room-Scale Representations with a Mobile Robot, IROS 2024. [Paper][Code][Website]
DarkGS: Learning Neural Illumination and 3D Gaussians Relighting for Robotic Exploration in the Dark, IROS, 2024. [Paper] [Code]
PRTGS: Precomputed Radiance Transfer of Gaussian Splats for Real-Time High-Quality Relighting, MM, 2024. [Paper]
Thermal3D-GS: Physics-induced 3D Gaussians for Thermal Infrared Novel-view Synthesis, ECCV 2024. [Paper][Code]
Relightable 3D Gaussian: Real-time Point Cloud Relighting with BRDF Decomposition and Ray Tracing, ECCV 2024. [Paper][Code][Website]
Gaussian in the Wild: 3D Gaussian Splatting for Unconstrained Image Collections, ECCV, 2024. [Paper][Code][Website]
SWAG: Splatting in the Wild images with Appearance-conditioned Gaussians, ECCV, 2024. [Paper]
Gaussian Shadow Casting for Neural Characters, CVPR, 2024. [Paper][Code]
Dynamic 3D Gaussian Tracking for Graph-Based Neural Dynamics Modeling, CoRL, 2024. [Paper][Code][Website]
GS-IR: 3D Gaussian Splatting for Inverse Rendering, CVPR, 2024. [Paper][Code][Website]
Event3DGS: Event-Based 3D Gaussian Splatting for High-Speed Robot Egomotion, CoRL, 2024. [Paper][Website]
Gaussian in the Dark: Real-Time View Synthesis From Inconsistent Dark Images Using Gaussian Splatting, PG, 2024. [Paper][Code]
Modeling Uncertainty in 3D Gaussian Splatting through Continuous Semantic Splatting, CSE, 2024. [Paper]
FlashSplat: 2D to 3D Gaussian Splatting Segmentation Solved Optimally, ECCV, 2024. [Paper][Code]
GaussianBeV : 3D Gaussian Representation meets Perception Models for BeV Segmentation, WACV, 2025. [Paper]
Segment Any 3D Gaussians, AAAI, 2025. [Paper][Code][Website]
SpectralGaussians: Semantic, spectral 3D Gaussian splatting for multi-spectral scene representation, visualization and analysis, ISPRS J PHOTOGRAMM, 2025. [Paper]
Efficient Semantic Splatting for Remote Sensing Multi-view Segmentation, TGRS, 2025. [Paper]
Semantics-Controlled Gaussian Splatting for Outdoor Scene Reconstruction and Rendering in Virtual Reality, VR, 2025. [Paper][Code]
Gaga: Group Any Gaussians via 3D-aware Memory Bank, ICLR, 2025. [Paper][Code][Website]
Gradient-Driven 3D Segmentation and Affordance Transfer in Gaussian Splatting Using 2D Masks, ICRA, 2025. [Paper][Code][Website]
Unleashing the Potential of Multi-modal Foundation Models and Video Diffusion for 4D Dynamic Physical Scene Simulation, CVPR, 2025. [Paper][Code][Website]
Proc-GS: Procedural Building Generation for City Assembly with 3D Gaussians, CVPRW, 2025. [Paper][Code][Website]
FastLGS: Speeding up Language Embedded Gaussians with Feature Grid Mapping, AAAI, 2025. [Paper][Code][Website]
SLGaussian: Fast Language Gaussian Splatting in Sparse Views, MM, 2025. [Paper][Code][Website]
DCSEG: Decoupled 3D Open-Set Segmentation using Gaussian Splatting, CVPRW, 2025. [Paper][Code]
CLIP-GS: Unifying Vision - Language Representation with 3D Gaussian Splatting, ICCV, 2025. [Paper]
GIR: 3D Gaussian Inverse Rendering for Relightable Scene Factorization, TPAMI, 2025. [Paper][Code][Website]
WeatherGS: 3D Scene Reconstruction in Adverse Weather Conditions via Gaussian Splatting, ICRA, 2025. [Paper][Code][Website]
Decoupling Appearance Variations with 3D Consistent Features in Gaussian Splatting, AAAI, 2025. [Paper][Website]
GeoSplatting: Towards Geometry Guided Gaussian Splatting for Physically-based Inverse Rendering, ICCV, 2025. [Paper][Code][Website]
TranSplat: Surface Embedding-guided 3D Gaussian Splatting for Transparent Object Manipulation, ICRA, 2025. [Paper][Code]
OMG: Opacity Matters in Material Modeling with Gaussian Splatting, ICLR, 2025. [Paper][Code]
DeRainGS: Gaussian Splatting for Enhanced Scene Reconstruction in Rainy Environments, AAAI, 2025. [Paper][Website]
SeaSplat: Representing Underwater Scenes with 3D Gaussian Splatting and a Physically Grounded Image Formation Model, ICRA, 2025. [Paper][Code][Website]
Deblur4DGS: 4D Gaussian Splatting from Blurry Monocular Video, AAAI, 2026. [Paper][Code][Website]
MATT-GS: Masked Attention-based 3DGS for Robot Perception and Object Detection, arXiv. [Code]
Semantic Gaussians: Open-Vocabulary Scene Understanding with 3D Gaussian Splatting, arXiv. [Paper][Code][Website]
Query-based Semantic Gaussian Field for Scene Representation in Reinforcement Learning, arXiv. [Paper]
Gaussian Control with Hierarchical Semantic Graphs in 3D Human Recovery, arXiv. [Paper][Code][Website]
SlingBAG: Sliding ball adaptive growth algorithm with differentiable radiation enables super-efficient iterative 3D photoacoustic image reconstruction, arXiv. [Paper]
Contrastive Gaussian Clustering: Weakly Supervised 3D Scene Segmentation, arXiv. [Paper][Code]
CoSSegGaussians: Compact and Swift Scene Segmenting 3D Gaussians, arXiv. [Paper][Code][Website]
Segment Anything in 3D Gaussians, arXiv. [Paper][Code]
GS-PT: Exploiting 3D Gaussian Splatting for Comprehensive Point Cloud Understanding via Self-supervised Learning, arXiv. [Paper]
Splat: FAST-Fast, Ambiguity-Free Semantics Transfer in Gaussian Splatting, arXiv. [Paper][Code]
GLS: Geometry-aware 3D Language Gaussian Splatting, arXiv. [Paper][Code][Website]
GradiSeg: Gradient-Guided Gaussian Segmentation with Enhanced 3D Boundary Precision, arXiv. [Paper][Website]
EaDeblur-GS: Event assisted 3D Deblur Reconstruction with Gaussian Splatting, arXiv. [Paper]
Automated 3D Physical Simulation of Open-world Scene with Gaussian Splatting, arXiv. [Paper][Website]
SuperGSeg: Open-Vocabulary 3D Segmentation with Structured Super-Gaussians, arXiv. [Paper][Website]
LineGS : 3D Line Segment Representation on 3D Gaussian Splatting, arXiv. [Paper][Code]
SparseLGS: Sparse View Language Embedded Gaussian Splatting, arXiv. [Paper][Website]
Occam's LGS: A Simple Approach for Language Gaussian Splatting, arXiv. [Paper][Code][Website]
ChatSplat: 3D Conversational Gaussian Splatting, arXiv. [Paper]
RAIN-GS: Relaxing Accurate Initialization Constraint for 3D Gaussian Splatting, arXiv. [Paper][Code][Website]
LumiGauss: High-Fidelity Outdoor Relighting with 2D Gaussian Splatting, arXiv. [Paper]
Phys3DGS: Physically-based 3D Gaussian Splatting for Inverse Rendering, arXiv. [Paper]
ThermalGaussian: Thermal 3D Gaussian Splatting, arXiv. [Paper][Code][Website]
E-3DGS: Gaussian Splatting with Exposure and Motion Events, arXiv. [Paper][Code]
GUS-IR: Gaussian Splatting with Unified Shading for Inverse Rendering, arXiv. [Paper]
ULSR-GS: Ultra Large-scale Surface Reconstruction Gaussian Splatting with Multi-View Geometric Consistency, arXiv. [Paper][Website]
FlameGS: Reconstruct flame light field via Gaussian Splatting, arXiv. [Paper]
GlossGau: Efficient Inverse Rendering for Glossy Surface with Anisotropic Spherical Gaussian, arXiv. [Paper]

1.8 Foundation Model

Open-vocabulary Queryable Scene Representations for Real World Planning, ICRA, 2023. [Paper][Code][Website]
CLIP-Fields: Weakly Supervised Semantic Fields for Robotic Memory, RSS, 2023. [Paper][Code][Website]
Grounding DINO: Marrying DINO with Grounded Pre-Training for Open-Set Object Detection, ECCV, 2024. [Paper][Code]
YOLO-World: Real-Time Open-Vocabulary Object Detection, CVPR, 2024. [Paper][Code][Website]
YOLOE:Real-Time Seeing Anything, ICCV, 2025. [Paper][Code]
Scene-LLM: Extending Language Model for 3D Visual Reasoning, WACV, 2025. [Paper]

2.Mapping

2.1 Point Cloud

ElasticFusion: Real-time dense SLAM and light source estimation, Int J Rob Res, 2016. [Website]
COLMAP: Structure-from-Motion Revisited, CVPR, 2016. [Website]
QuadricSLAM: Dual Quadrics as SLAM Landmarks, CVPR, 2018. [Paper]
CubeSLAM: Monocular 3-D Object SLAM, TRO, 2019. [Website]
ConceptFusion: Open-set Multimodal 3D Mapping. arxiv. [Paper]

2.2 Voxel Grid

OctoMap: AnEfficient Probabilistic 3D Mapping Framework Based on Octrees, AUTON ROBOT, 2013. [Paper]
Efficient and Probabilistic Adaptive Voxel Mapping for Accurate Online LiDAR Odometry, RAL, 2022. [Website]
LiDAR Road-Atlas: An Efficient Map Representation for General 3D Urban Environment, Field Rob, 2025. [Website]

2.3 Signed Distance Field (SDF)

KinectFusion: Real-time dense surface mapping and tracking, ISMAR, 2011. [Website]
Voxgraph: Globally Consistent, Volumetric Mapping using Signed Distance Function Submaps, RAL, 2019. [Website]

2.4 Mesh

Kimera: from SLAM to Spatial Perception with 3D Dynamic Scene Graphs, INT J ROBOT RES, 2021. [Paper]

2.5 Scene Graph

Hydra: A Real-time Spatial Perception System for 3D Scene Graph Construction and Optimization, RSS, 2022. [Paper]
ConceptGraphs: Open-Vocabulary 3D Scene Graphs for Perception and Planning, ICRA, 2024. [Website]
Clio: Real-Time Task-Driven Open-Set 3D Scene Graphs, RAL, 2024. [Website]

2.6 Neural Radiance Fields (NeRF)

2.6.1 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]
Feature-Realistic Neural Fusion for Real-Time, Open Set Scene Understanding, ICRA, 2022. [Paper] [Website] [Video]
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] [Code]
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, ICCVw, 2023. [Paper] [Code]
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, RAL, 2024. [Paper] [Code] [Website]
HI-SLAM: Monocular Real-time Dense Mapping with Hybrid Implicit Fields, RAL, 2023. [Paper] [Website]
CP-SLAM: Collaborative Neural Point-based SLAM, NeurIPS, 2024. [Paper] [Code]
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, IROS, 2024. [Paper][Code]
PLGSLAM: Progressive Neural Scene Represenation with Local to Global Bundle Adjustment, CVPR, 2024. [Paper] [Code]
NeRF-VO: Real-Time Sparse Visual Odometry with Neural Radiance Fields, RAL, 2024. [Paper]
Ternary-type Opacity and Hybrid Odometry for RGB-only NeRF-SLAM, IROS, 2024. [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, RAL, 2025. [Paper] [Code]
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]
Loopy-SLAM: Dense Neural SLAM with Loop Closures, CVPR, 2024. [Paper] [Code] [Website]
Q-SLAM: Quadric Representations for Monocular SLAM, CoRL, 2024. [Paper]
DVN-SLAM: Dynamic Visual Neural SLAM Based on Local-Global Encoding, ICRA, 2025. [Paper]
H3-Mapping: Quasi-Heterogeneous Feature Grids for Real-time Dense Mapping Using Hierarchical Hybrid Representation, RAL, 2024. [Paper] [Code]
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] [Code] [Website]
Efficient 3D Instance Mapping and Localization with Neural Fields, ICRA, 2024. [Paper] [Website]
NeSLAM: Neural Implicit Mapping and Self-Supervised Feature Tracking With Depth Completion and Denoising, arXiv, 2024. [Paper] [Code]
KN-SLAM: Keypoints and Neural Implicit Encoding SLAM, TIM, 2024. [Paper]
SLAIM: Robust Dense Neural SLAM for Online Tracking and Mapping, CVPRw, 2024. [Paper] [Code] [Website]
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]
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]
NeB-SLAM: Neural Blocks-based Salable RGB-D SLAM for Unknown Scenes, arXiv, 2024. [Paper]
ENeRF-SLAM:A Dense Endoscopic SLAM With Neural Implicit Representation, TMRB, 2024. [Paper] [Code]
IBD-SLAM: Learning Image-Based Depth Fusion for Generalizable SLAM, CVPR, 2024. [Paper] [Website]
RoDyn-SLAM: Robust Dynamic Dense RGB-D SLAM with Neural Radiance Fields, RAL, 2024. [Paper] [Code]
MoD-SLAM: Monocular Dense Mapping for Unbounded 3D Scene Reconstruction, RAL, 2024. [Paper]
Evaluating geometric accuracy of NeRF reconstructions compared to SLAM method, arXiv, 2024. [Paper]
I2-SLAM: Inverting Imaging Process for Robust Photorealistic Dense SLAM, ECCV, 2024. [Paper]
TivNe-SLAM: Dynamic Mapping and Tracking via Time-Varying Neural Radiance Fields, IROS, 2024. [Paper]
NIS-SLAM: Neural Implicit Semantic RGB-D SLAM for 3D Consistent Scene Understanding, TVCG, 2024. [Paper] [Website]
DDS-SLAM: Dense Semantic Neural SLAM for Deforming Endoscopic Scenes, IROS, 2024. [Paper] [Code]
FI-SLAM: Feature Fusion and Instance Reconstruction for Neural Implicit SLAM, IROS, 2024. [Paper] [Code]
LCP-Fusion: A Neural Implicit SLAM with Enhanced Local Constraints and Computable Prior, IROS, 2024. [Paper] [Code]
NF-SLAM: Effective, Normalizing Flow-supported Neural Field representations for object-level visual SLAM in automotive applications, IROS, 2024. [Paper] [Code]
EvenNICER-SLAM: Event-based Neural Implicit Encoding SLAM, arXiv, 2024. [Paper] [Code]
NVINS: Robust Visual Inertial Navigation Fused with NeRF-augmented Camera Pose Regressor and Uncertainty Quantification, IROS, 2024. [Paper]
Optimizing NeRF-based SLAM with Trajectory Smoothness Constraints, ICRA, 2025. [Paper]
LRSLAM: Low-rank Representation of Signed Distance Fields in Dense Visual SLAM System, ECCV, 2024. [Paper]
Bridging the Gap Between Explicit and Implicit Representations: Cross-Data Association for VSLAM, TITS, 2024. [Paper]
MBA-SLAM: Motion Blur Aware Dense Visual SLAM with Radiance Fields Representation, arXiv, 2024. [Paper] [Code] [Website]
Uni-SLAM: Uncertainty-Aware Neural Implicit SLAM for Real-Time Dense Indoor Scene Reconstruction, arXiv, 2024. [Paper] [Website]
iS-MAP: Neural Implicit Mapping and Positioning for Structural Environments, ACCV, 2024. [Paper] [Code]

Query Quantized Neural SLAM, AAAI, 2025. [Paper] [Code] [Website]
Hierarchical Pose Estimation and Mapping with Multi-scale Neural Feature Fields, IRC, 2024. [Paper]
Mee-SLAM: Memory efficient endoscopic RGB SLAM with implicit scene representation, Expert Systems with Applications, 2025. [Paper]
Bayesian NeRF: Quantifying Uncertainty with Volume Density for Neural Implicit Fields, RAL, 2025. [Paper]
SP-SLAM: Neural Real-Time Dense SLAM With Scene Priors, TCSVT, 2025. [Paper]
SLC2-SLAM: Semantic-guided Loop Closure with Shared Latent Code for NeRF SLAM, RAL, 2025. [Paper]
Category-level Meta-learned NeRF Priors for Efficient Object Mapping, IROS, 2025. [Paper]
Proud-SLAM: Neural Point-based Hybrid RGBD Monocular Dense SLAM, ICASSP, 2025. [Paper]
NeRF-VIO: Map-Based Visual-Inertial Odometry with Initialization Leveraging Neural Radiance Fields, arXiv, 2025. [Paper]
HS-SLAM: Hybrid Representation with Structural Supervision for Improved Dense SLAM, ICRA, 2025. [Paper] [Website]
Region sampling NeRF-SLAM based on Kolmogorov-Arnold network, arXiv, 2025. [Paper] [Code]
NDF-SLAM: LiDAR SLAM based on neural distance field for registration and loop closure detection, Measurement, 2025. [Paper]
MISO: Multiresolution Submap Optimization for Efficient Globally Consistent Neural Implicit Reconstruction, RSS, 2025. [Paper] [Code] [Website]
Monocular Visual SLAM with Adjusting Neural Radiance Fields for 3D Reconstruction in Planetary Environments, TGRS, 2025. [Paper]
EC-SLAM: Effectively constrained neural RGB-D SLAM with TSDF hash encoding and joint optimization, PR, 2025. [Paper] [Code]
Spatial Coordinate Transformation for 3D Neural Implicit Mapping, RAL, 2025. [Paper] [Code]
SDF-Guided Keyframe Selection: Novel Boost for NeRF SLAM Loop Closure, IROS, 2025. [Paper]
SLC^2-SLAM: Semantic-Guided Loop Closure Using Shared Latent Code for NeRF SLAM, IROS, 2025. [Paper]
MARVO: Marine-Adaptive Radiance-aware Visual Odometry, arXiv, 2025. [Paper]

2.7 3D Gaussian Splatting (3DGS)

2.7.1 SLAM

HGS-Mapping: Online Dense Mapping Using Hybrid Gaussian Representation in Urban Scenes, arXiv, 2024. [Paper]
MM-Gaussian: 3D Gaussian-based Multi-modal Fusion for Localization and Reconstruction in Unbounded Scenes, arXiv. [Paper]
GSFusion: Online RGB-D Mapping Where Gaussian Splatting Meets TSDF Fusion, arXiv. [Paper]
LoopSplat: Loop Closure by Registering 3D Gaussian Splats, arXiv. [Paper]
SGS-SLAM: Semantic Gaussian Splatting For Neural Dense SLAM, ECCV, 2024. [Paper] [Code]
Compact 3D Gaussian Splatting For Dense Visual SLAM, arXiv, 2024. [Paper] [Code]
NGM-SLAM: Gaussian Splatting SLAM with Radiance Field Submap, arXiv, 2024. [Paper]
GGRt: Towards Generalizable 3D Gaussians without Pose Priors in Real-Time, arXiv. [Paper] [Website]
MGS-SLAM: Monocular Sparse Tracking and Gaussian Mapping with Depth Smooth Regularization, arXiv 2024. [Paper]
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]
SemGauss-SLAM: Dense Semantic Gaussian Splatting 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, ECCV, 2024. [Paper] [Code] [Video]
EndoGSLAM: Real-Time Dense Reconstruction and Tracking in Endoscopic Surgeries using Gaussian Splatting, arXiv, 2024. [Paper] [Website] [Code]
CG-SLAM: Efficient Dense RGB-D SLAM in a Consistent Uncertainty-aware 3D Gaussian Field, ECCV, 2024. [Paper] [Code] [Website]
RTG-SLAM: Real-time 3D Reconstruction at Scale using Gaussian Splatting, SIGGRAPH, 2024. [Paper] [Code]
MotionGS: Compact Gaussian Splatting SLAM by Motion Filter, arXiv, 2024. [Paper] [Code]
Monocular Gaussian SLAM with Language Extended Loop Closure, arXiv, 2024. [Paper]
Splat-SLAM: Globally Optimized RGB-only SLAM with 3D Gaussians, arXiv, 2024. [Paper] [Code]
MG-SLAM: Structure Gaussian SLAM with Manhattan World Hypothesis, arXiv, 2024. [Paper]
TAMBRIDGE: Bridging Frame-Centered Tracking and 3D Gaussian Splatting for Enhanced SLAM, arXiv, 2024. [Paper] [Code] [Website]
IG-SLAM: Instant Gaussian SLAM, arXiv. [Paper]
Visual SLAM with 3D Gaussian Primitives and Depth Priors Enabling Novel View Synthesis, arXiv. [Paper]
Towards Real-Time Gaussian Splatting: Accelerating 3DGS through Photometric SLAM, arXiv. [Paper]
OG-Mapping: Octree-based Structured 3DGaussians for Online Dense Mapping, arXiv. [Paper]
3DGS-Calib: 3D Gaussian Splatting for Multimodal SpatioTemporal Calibration, arXiv. [Paper] [Website]
COLMAP-Free 3D Gaussian Splatting, CVPR, 2024. [Paper]
6DGS: 6D Pose Estimation from a Single Image and a 3D Gaussian Splatting Model, ECCV, 2024. [Paper] [Code]
Hi-SLAM: Scaling-up Semantics in SLAM with a Hierarchically Categorical Gaussian Splatting, arXiv. [Paper]
GLC-SLAM: Gaussian Splatting SLAM with Efficient Loop Closure, arXiv. [Paper]
AG-SLAM: Active Gaussian Splatting SLAM, arXiv. [Paper]
DG-SLAM: Robust Dynamic Gaussian Splatting SLAM with Hybrid Pose Optimization, arXiv. [Paper]
LiV-GS: LiDAR-Vision Integration for 3D Gaussian Splatting SLAM in Outdoor Environments, arXiv. [Paper]
DGS-SLAM: Gaussian Splatting SLAM in Dynamic Environment, arXiv. [Paper]
DeSiRe-GS: 4D Street Gaussians for Static-Dynamic Decomposition and Surface Reconstruction for Urban Driving Scenes, arXiv. [Paper]
GaussianPretrain: A Simple Unified 3D Gaussian Representation for Visual Pre-training in Autonomous Driving, arXiv. [Paper]
HI-SLAM2: Geometry-Aware Gaussian SLAM for Fast Monocular Scene Reconstruction, arXiv. [Paper]
DROID-Splat: Combining end-to-end SLAM with 3D Gaussian Splatting, arXiv. [Code]
PG-SLAM: Photo-realistic and Geometry-aware RGB-D SLAM in Dynamic Environments, arXiv. [Paper]
Gassidy: Gaussian Splatting SLAM in Dynamic Environments, arXiv. [Paper]
SplatAD: Real-Time Lidar and Camera Rendering with 3D Gaussian Splatting for Autonomous Driving, arXiv. [Paper]
MAC-Ego3D: Multi-Agent Gaussian Consensus for Real-Time Collaborative Ego-Motion and Photorealistic 3D Reconstruction, arXiv. [Paper]
RP-SLAM: Real-time Photorealistic SLAM with Efficient 3D Gaussian Splatting, arXiv. [Paper]
RGBDS-SLAM: A RGB-D Semantic Dense SLAM Based on 3D Multi Level Pyramid Gaussian Splatting, arXiv. [Paper]
FlashSLAM: Accelerated RGB-D SLAM for Real-Time 3D Scene Reconstruction with Gaussian Splatting, arXiv. [Paper]
NeRF and Gaussian Splatting SLAM in the Wild, arXiv. [Paper]
GSplatLoc: Ultra - Precise Camera Localization via 3D Gaussian Splatting, arXiv. [Paper]
CityLoc: 6 DoF Localization of Text Descriptions in Large-Scale Scenes with Gaussian Representation, arXiv. [Paper]
VINGS-Mono: Visual-Inertial Gaussian Splatting Monocular SLAM in Large Scenes, arXiv. [Paper]
Scaffold-SLAM: Structured 3D Gaussians for Simultaneous Localization and Photorealistic Mapping, arXiv. [Paper]
PanoSLAM: Panoptic 3D Scene Reconstruction via Gaussian SLAM, arXiv. [Paper]
GS-LiDAR: Generating Realistic LiDAR Point Clouds with Panoramic Gaussian Splatting, arXiv. [Paper]
GeomGS: LiDAR-Guided Geometry-Aware Gaussian Splatting for Robot Localization, arXiv. [Paper]
VIGS SLAM: IMU-based Large-Scale 3D Gaussian Splatting SLAM, arXiv. [Paper]
Advancing Dense Endoscopic Reconstruction with Gaussian Splatting-driven Surface Normal-aware Tracking and Mapping, arXiv. [Paper]
DenseSplat: Densifying Gaussian Splatting SLAM with Neural Radiance Prior, arXiv. [Paper]
GARAD-SLAM: 3D GAussian splatting for Real-time Anti Dynamic SLAM, arXiv. [Paper]
PINGS: Gaussian Splatting Meets Distance Fields within a Point-Based Implicit Neural Map, arXiv. [Paper]
SIREN: Semantic, Initialization-Free Registration of Multi-Robot Gaussian Splatting Maps, arXiv. [Paper]
Multi-Modal Neural Radiance Field for Monocular Dense SLAM with a Light-Weight ToF Sensor, ICCV, 2023. [Paper] [Website] [Code]
LIV-GaussMap: LiDAR-Inertial-Visual Fusion for Real-time 3D Radiance Field Map Rendering, RAL, 2024. [Paper] [Code]
MM3DGS SLAM: Multi-modal 3D Gaussian Splatting for SLAM Using Vision, Depth, and Inertial Measurements, IROS, 2024. [Paper] [Website]
MM-Gaussian: 3D Gaussian-based Multi-modal Fusion for Localization and Reconstruction in Unbounded Scenes, IROS, 2024. [Paper]
Gaussian-LIC: Photo-realistic LiDAR-Inertial-Camera SLAM with 3D Gaussian Splatting, arXiv, 2024. [Paper]
Go-SLAM: Grounded Object Segmentation and Localization with Gaussian Splatting SLAM, arXiv, 2024. [Paper]

2.7.2 Scene Reconstruction

VastGaussian: Vast 3D Gaussians for Large Scene Reconstruction, CVPR, 2024. [Paper] [Website] [Code]
3DGSR: Implicit Surface Reconstruction with 3D Gaussian Splatting, TOG 2024. [Paper] [Code]
A Hierarchical 3D Gaussian Representation for Real-Time Rendering of Very Large Datasets, SIGGRAPH, 2024. [Paper] [Website]
Fed3DGS: Scalable 3D Gaussian Splatting with Federated Learning, arXiv. [Paper] [Code]
Creating Seamless 3D Maps Using Radiance Fields, arXiv. [Paper]
CityGaussian: Real-time High-quality Large-Scale Scene Rendering with Gaussians, ECCV, 2024. [Paper] [Website]
On Scaling Up 3D Gaussian Splatting Training, arXiv. [Paper] [Website] [Code]
HUGS: Holistic Urban 3D Scene Understanding via Gaussian Splatting, arXiv, 2024. [Paper] [Code]
SGD: Street View Synthesis with Gaussian Splatting and Diffusion Prior, arXiv. [Paper] [Website]
Ev-GS: Event-based Gaussian splatting for Efficient and Accurate Radiance Field Rendering, arXiv. [Paper]
FlashGS: Efficient 3D Gaussian Splatting for Large-scale and High-resolution Rendering, arXiv. [Paper]
OmniRe: Omni Urban Scene Reconstruction, arXiv. [Paper]
GigaGS: Scaling up Planar-Based 3D Gaussians for Large Scene Surface Reconstruction, arXiv. [Paper]
LI-GS: Gaussian Splatting with LiDAR Incorporated for Accurate Large-Scale Reconstruction, arXiv. [Paper]
GaRField++: Reinforced Gaussian Radiance Fields for Large-Scale 3D Scene Reconstruction, arXiv. [Paper]
EdgeGaussians -- 3D Edge Mapping via Gaussian Splatting, arXiv. [Paper]
DrivingForward: Feed-forward 3D Gaussian Splatting for Driving Scene Reconstruction from Flexible Surround-view Input, arXiv. [Paper]
RenderWorld: World Model with Self-Supervised 3D Label, arXiv. [Paper]
Drone-assisted Road Gaussian Splatting with Cross-view Uncertainty, arXiv. [Paper]
GGS: Generalizable Gaussian Splatting for Lane Switching in Autonomous Driving, arXiv. [Paper]
GlossyGS: Inverse Rendering of Glossy Objects with 3D Gaussian Splatting, arXiv. [Paper]
L3DG: Latent 3D Gaussian Diffusion, CVPR, 2024. [Paper]
PLGS: Robust Panoptic Lifting with 3D Gaussian Splatting, arXiv. [Paper]
Normal-GS: 3D Gaussian Splatting with Normal-Involved Rendering, arXiv. [Paper]
ODGS: 3D Scene Reconstruction from Omnidirectional Images with 3D Gaussian Splattings, arXiv. [Paper]
Momentum-GS: Momentum Gaussian Self-Distillation for High-Quality Large Scene Reconstruction, arXiv. [Paper]
Radiant: Large-scale 3D Gaussian Rendering based on Hierarchical Framework, arXiv. [Paper]
KeyGS: A Keyframe-Centric Gaussian Splatting Method for Monocular Image Sequences, arXiv. [Paper]
MVS-GS: High - Quality 3D Gaussian Splatting Mapping via Online Multi - View Stereo, arXiv. [Paper]
SplatMAP: Online Dense Monocular SLAM with 3D Gaussian Splatting, arXiv. [Paper]
CrossView-GS: Cross-view Gaussian Splatting For Large - scale Scene Reconstruction, arXiv. [Paper]
PG-SAG: Parallel Gaussian Splatting for Fine-Grained Large-Scale Urban Buildings Reconstruction via Semantic - Aware Grouping, arXiv. [Paper]
Self-Calibrating Gaussian Splatting for Large Field of View Reconstruction, arXiv. [Paper]
High-Fidelity Novel View Synthesis via Splatting-Guided Diffusion, arXiv. [Paper]
DHGS: Decoupled Hybrid Gaussian Splatting for Driving Scene, arXiv. [Paper]
EMD: Explicit Motion Modeling for High-Quality Street Gaussian Splatting, arXiv. [Paper]
4Real: Towards Photorealistic 4D Scene Generation via Video Diffusion Models, arXiv. [Paper] [Website]
SC4D: Sparse-Controlled Video-to-4D Generation and Motion Transfer, arXiv. [Paper] [Website] [Code]
STAG4D: Spatial-Temporal Anchored Generative 4D Gaussians, arXiv. [Paper] [Website] [Code]
TCLC-GS: Tightly Coupled LiDAR-Camera Gaussian Splatting for Surrounding Autonomous Driving Scenes, arXiv. [Paper] [Website]
EgoGaussian: Dynamic Scene Understanding from Egocentric Video with 3D Gaussian Splatting, arXiv. [Paper] [Website]
Dynamic Gaussian Marbles for Novel View Synthesis of Casual Monocular Videos, arXiv. [Paper] [Website]
VGD: Vision-Only Dynamic Gaussian for Driving Simulation, arXiv. [Paper] [Website]
Modeling Ambient Scene Dynamics for Free-view Synthesis, arXiv. [Paper] [Website]
InfoGaussian: Structure-Aware Dynamic Gaussians through Lightweight Information Shaping, arXiv. [Paper] [Website]
Dynamic 3D Gaussian Fields for Urban Areas, arXiv. [Paper] [Website] [Code]
Reconstructing and Simulating Dynamic 3D Objects with Mesh-adsorbed Gaussian Splatting, arXiv. [Paper] [Website] [Code]
DreamPhysics: Learning Physical Properties of Dynamic 3D Gaussians with Video Diffusion Priors, arXiv. [Paper] [Website] [Code]
MoDGS: Dynamic Gaussian Splatting from Causually-captured Monocular Videos, arXiv. [Paper] [Website]
Street Gaussians for Modeling Dynamic Urban Scenes, arXiv. [Paper] [Website] [Code]
DrivingGaussian: Composite Gaussian Splatting for Surrounding Dynamic Autonomous Driving Scenes, CVPR, 2024. [Paper] [Website]
HUGS: Golistic Urban 3D Scene Understanding via Gaussian Splatting, CVPR, 2024. [Paper] [Website]
Guess The Unseen: Dynamic 3D Scene Reconstruction from Partial 2D Glimpses, CVPR, 2024. [Paper] [Website] [Code]
4D Gaussian Splatting: Towards Efficient Novel View Synthesis for Dynamic Scenes, arXiv. [Paper] [Website]
GaussianFlow: Splatting Gaussian Dynamics for 4D Content Creation, arXiv. [Paper] [Website] [Code]
Motion-aware 3D Gaussian Splatting for Efficient Dynamic Scene Reconstruction, arXiv. [Paper] [Website]
Bridging 3D Gaussian and Mesh for Freeview Video Rendering, arXiv. [Paper] [Website]
Per-Gaussian Embedding-Based Deformation for Deformable 3D Gaussian Splatting, ECCV, 2024. [Paper] [Website] [Code]
3D Geometry-aware Deformable Gaussian Splatting for Dynamic View Synthesis, CVPR, 2024. [Paper] [Website]
Dynamic 3D Gaussians: Tracking by Persistent Dynamic View Synthesis, 3DV, 2024. [Paper] [Website] [Code]
Deformable 3D Gaussians for High-Fidelity Monocular Dynamic Scene Reconstruction, CVPR, 2024. [Paper] [Website] [Code]
4D Gaussian Splatting for Real-Time Dynamic Scene Rendering, CVPR, 2024. [Paper] [Website] [Code]
Real-time Photorealistic Dynamic Scene Representation and Rendering with 4D Gaussian Splatting, arXiv. [Paper] [Website]
A Compact Dynamic 3D Gaussian Representation for Real-Time Dynamic View Synthesis, ECCV, 2024. [Paper] [Website] [Code]
DynMF: Neural Motion Factorization for Real-time Dynamic View Synthesis with 3D Gaussian Splatting, arXiv. [Paper] [Website] [Code]
SC-GS: Sparse-Controlled Gaussian Splatting for Editable Dynamic Scenes, CVPR, 2024. [Paper] [Website] [Code]
Gaussian-Flow: 4D Reconstruction with Dynamic 3D Gaussian Particle, CVPR, 2024. [Paper] [Website]
GauFRe: Gaussian Deformation Fields for Real-time Dynamic Novel View Synthesis, arXiv. [Paper] [Website]
Spacetime Gaussian Feature Splatting for Real-Time Dynamic View Synthesis, CVPR, 2024. [Paper] [Website] [Code]
SWinGS: Sliding Windows for Dynamic 3D Gaussian Splatting, ECCV, 2024. [Paper] [Website] [Code]
DreamGaussian4D: Generative 4D Gaussian Splatting, arXiv. [Paper] [Website] [Code]
4DGen: Grounded 4D Content Generation with Spatial-temporal Consistency, arXiv. [Paper] [Website] [Code]
Neural Parametric Gaussians for Monocular Non-Rigid Object Reconstruction, CVPR, 2024. [Paper]
CoGS: Controllable Gaussian Splatting, CVPR, 2024. [Paper] [Website]
MD-Splatting: Learning Metric Deformation from 4D Gaussians in Highly Deformable Scenes, arXiv. [Paper] [Website] [Code]
3DGStream: On-the-Fly Training of 3D Gaussians for Efficient Streaming of Photo-Realistic Free-Viewpoint Videos, CVPR, 2024. [Paper] [Website] [Code]
Dynamic Gaussian Splatting from Markerless Motion Capture can Reconstruct Infants Movements, WACV, 2024. [Paper]
GaussianPrediction: Dynamic 3D Gaussian Prediction for Motion Extrapolation and Free View Synthesis, SIGGRAPH, 2024. [Paper] [Website] [Code
VEGS: View Extrapolation of Urban Scenes in 3D Gaussian Splatting using Learned Priors, ECCV, 2024. [Paper] [Code]
Neural Parametric Gaussians for Monocular Non-Rigid Object Reconstruction, CVPR, 2024. [Paper]
Gaussian Splatting LK, arXiv. [Paper]
HDRSplat: Gaussian Splatting for High Dynamic Range 3D Scene Reconstruction from Raw Images, arXiv. [Paper]
Reality Fusion: Robust Real-time Immersive Mobile Robot Teleoperation with Volumetric Visual Data Fusion, arXiv. [Paper]
HDRGS: High Dynamic Range Gaussian Splatting, arXiv. [Paper]
S4D: Streaming 4D Real-World Reconstruction with Gaussians and 3D Control Points, arXiv. [Paper]
DynOMo: Online Point Tracking by Dynamic Online Monocular Gaussian Reconstruction, arXiv. [Paper]
DENSER: 3D Gaussians Splatting for Scene Reconstruction of Dynamic Urban Environments, arXiv. [Paper]
SplatFields: Neural Gaussian Splats for Sparse 3D and 4D Reconstruction, arXiv. [Paper]
DN-4DGS: Denoised Deformable Network with Temporal-Spatial Aggregation for Dynamic Scene Rendering, arXiv. [Paper]
MEGA: Memory-Efficient 4D Gaussian Splatting for Dynamic Scenes, arXiv. [Paper]
DriveDreamer4D: World Models Are Effective Data Machines for 4D Driving Scene Representation, arXiv. [Paper]
SpectroMotion: Dynamic 3D Reconstruction of Specular Scenes, arXiv. [Paper]
Fully Explicit Dynamic Gaussian Splatting, arXiv. [Paper]
Grid4D: 4D Decomposed Hash Encoding for High-fidelity Dynamic Gaussian Splatting, arXiv. [Paper]
3DGS-CD: 3D Gaussian Splatting-based Change Detection for Physical Object Rearrangement, arXiv. [Paper]
HiCoM: Hierarchical Coherent Motion for Streamable Dynamic Scene with 3D Gaussian Splatting, arXiv. [Paper]
Adaptive and Temporally Consistent Gaussian Surfels for Multi-view Dynamic Reconstruction, arXiv. [Paper]
4D Gaussian Splatting in the Wild with Uncertainty-Aware Regularization, arXiv. [Paper]
TimeFormer: Capturing Temporal Relationships of Deformable 3D Gaussians for Robust Reconstruction, arXiv. [Paper]
4D Scaffold Gaussian Splatting for Memory Efficient Dynamic Scene Reconstruction, arXiv. [Paper]
Event-boosted Deformable 3D Gaussians for Fast Dynamic Scene Reconstruction, arXiv. [Paper]
SplatFlow: Self-Supervised Dynamic Gaussian Splatting in Neural Motion Flow Field for Autonomous Driving, arXiv. [Paper]
DynSUP: Dynamic Gaussian Splatting from An Unposed Image Pair, arXiv. [Paper]
Deformable Radial Kernel Splatting, arXiv. [Paper]
Template-free Articulated Gaussian Splatting for Real-time Reposable Dynamic View Synthesis, arXiv. [Paper]
4D Gaussian Splatting with Scale-aware Residual Field and Adaptive Optimization for Real-time Rendering of Temporally Complex Dynamic Scenes, arXiv. [Paper]
SplineGS: Robust Motion-Adaptive Spline for Real-Time Dynamic 3D Gaussians from Monocular Video, arXiv. [Paper]
RelayGS: Reconstructing Dynamic Scenes with Large-Scale and Complex Motions via Relay Gaussians, arXiv. [Paper]
Monocular Dynamic Gaussian Splatting is Fast and Brittle but Smooth Motion Helps, arXiv. [Paper]
Urban4D: Semantic-Guided 4D Gaussian Splatting for Urban Scene Reconstruction, arXiv. [Paper]
KeyGS: A Keyframe-Centric Gaussian Splatting Method for Monocular Image Sequences, arXiv. [Paper]
4D Gaussian Splatting: Modeling Dynamic Scenes with Native 4D Primitives, arXiv. [Paper]
DAS3R: Dynamics - Aware Gaussian Splatting for Static Scene Reconstruction, arXiv. [Paper]
GS-LIVO: Real-Time LiDAR, Inertial, and Visual Multi-sensor Fused Odometry with Gaussian Mapping, arXiv. [Paper]
MapGS: Generalizable Pretraining and Data Augmentation for Online Mapping via Novel View Synthesis, arXiv. [Paper]
DreamDrive: Generative 4D Scene Modeling from Street View Images, arXiv. [Paper]
GaussianVideo: Efficient Video Representation via Hierarchical Gaussian Splatting, arXiv. [Paper]
GS-DiT: Advancing Video Generation with Pseudo 4D Gaussian Fields through Efficient Dense 3D Point Tracking, arXiv. [Paper]
Micro-macro Wavelet-based Gaussian Splatting for 3D Reconstruction from Unconstrained Images, arXiv. [Paper]
OG-Gaussian: Occupancy Based Street Gaussians for Autonomous Driving, arXiv. [Paper]

2.8 Foundation Model<a id="2.8-Foundation-Model>

CUT3R: Continuous 3D Perception Model with Persistent State, CVPR, 2025. [Paper]
Pow3R: Empowering Unconstrained 3D Reconstruction with Camera and Scene Priors, CVPR, 2025. [Paper]
MASt3R: Grounding Image Matching in 3D with MASt3R, CVPR, 2025. [Website]
MUSt3R: Multi-view Network for Stereo 3D Reconstruction, CVPR, 2025. [Website]
VGGT: Visual Geometry Grounded Transformer, CVPR, 2025. [Website]
Spann3R: 3D Reconstruction with Spatial Memory, CVPR, 2025. [Paper]
π3: Permutation-Equivariant Visual Geometry Learning, arxiv. [Website]
DUSt3R: Geometric 3D Vision Made Easy, CVPR, 2024. [Paper]

3.Localization<a id="localization>

3.1 Point Cloud

F-LOAM : Fast LiDAR Odometry and Mapping, IROS, 2021. [Paper]
ORB-SLAM2: an Open-Source SLAM System for Monocular, Stereo and RGB-D Cameras, IEEE Transactions on Robotics, 2016. [Website]
DROID-SLAM: Deep Visual SLAM for Monocular, Stereo, and RGB-D Cameras, NeurIPS, 2021. [Code]
TEASER: Fast and Certifiable Point Cloud Registration, IEEE Transactions on Robotics, 2021. [Website]
KISS-ICP: In Defense of Point-to-Point ICP -- Simple, Accurate, and Robust Registration If Done the Right Way, Robotics, 2022. [Website]
MonoSLAM: Real-Time Single Camera SLAM, IEEE Transactions on Pattern Analysis and Machine Intelligence, 2007. [Website]

3.2 Voxel Grid

Voxel-Based Localization and Mapping for Multirobot System in GPS-Denied Environments, IEEE Transactions on Industrial Electronics, 2022. [Website]
6-DOF localization for a mobile robot using outdoor 3D voxel maps, IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010. [Website]

3.3 Signed Distance Field (SDF)

Free-Space Features: Global Localization in 2D Laser SLAM Using Distance Function Maps, IROS, 2019. [Website]
Freetures: Localization in Signed Distance Function Maps, IEEE Robotics and Automation Letters. [Website]

3.4 Mesh

3.5 Scene Graph

X-View: Graph-Based Semantic Multi-View Localization, IEEE Robotics and Automation Letters, 2018. [Website]
SG-Reg: Generalizable and Efficient Scene Graph Registration, IEEE Transactions on Robotics, 2025. [Website]

3.6 Neural Radiance Fields (NeRF)

Loc-NeRF: Monte Carlo Localization using Neural Radiance Fields, ICRA, 2023. [Paper] [Code]
NeRF-Loc: Visual Localization with Conditional Neural Radiance Field, ICRA, 2023. [Paper] [Code]
LocNDF: Neural Distance Field Mapping for Robot Localization, RAL, 2023. [Paper] [Code]
Leveraging Neural Radiance Fields for Uncertainty-Aware Visual Localization, ICRA, 2024. [Paper] [Video]
The NeRFect Match: Exploring NeRF Features for Visual Localization, ECCV, 2024. [Paper] [Website] [Code]
Leveraging Neural Radiance Fields for Uncertainty-Aware Visual Localization, ICRA, 2024. [Paper]
NuRF: Nudging the Particle Filter in Radiance Fields for Robot Visual Localization, arXiv, 2024. [Paper]
Fast Global Localization on Neural Radiance Field, arXiv, 2024. [Paper] [Code]
Matching Query Image Against Selected NeRF Feature for Efficient and Scalable Localization, arXiv, 2024. [Paper]
Visual Localization in 3D Maps: Comparing Point Cloud, Mesh, and NeRF Representations, arXiv, 2024. [Paper]
Camera Relocalization in Shadow-Free Neural Radiance Fields, ICRA, 2024. [Paper]
MULAN-WC: Multi-Robot Localization Uncertainty-aware Active NeRF with Wireless Coordination, IROS, 2024. [Paper]
VRS-NeRF: Visual Relocalization with Sparse Neural Radiance Field, arXiv, 2024. [Paper] [Code]
WSCLoc: Weakly-Supervised Sparse-View Camera Relocalization via Radiance Field, IROS, 2024. [Paper]
CROSSFIRE: Camera Relocalization On Self-Supervised Features from an Implicit Representation, arXiv, 2024. [Paper]
NeuraLoc: Visual Localization in Neural Implicit Map with Dual Complementary Features, ICRA, 2025. [Paper]
Improving Indoor Localization Accuracy by Using an Efficient Implicit Neural Map Representation, arXiv, 2025. [Paper] [Code]

3.7 3D Gaussian Splatting (3DGS)

HGSLoc: 3DGS-based Heuristic Camera Pose Refinement, arXiv, 2024. [Paper]
GSLoc: Efficient Camera Pose Refinement via 3D Gaussian Splatting, arXiv, 2024. [Paper] [Website]
GSplatLoc: Grounding Keypoint Descriptors into 3D Gaussian Splatting for Improved Visual Localization, arXiv, 2024. [Paper] [Website] [Code]
GSLoc: Visual Localization with 3D Gaussian Splatting, arXiv, 2024. [Paper]
LoGS: Visual Localization via Gaussian Splatting with Fewer Training Images, arXiv, 2024. [Paper] [Code]
SplatLoc: 3D Gaussian Splatting-based Visual Localization for Augmented Reality, arXiv, 2024. [Paper] [Website] [Code]
Multi-robot autonomous 3D reconstruction using Gaussian splatting with Semantic guidance, RAL, 2025. [Paper]
GSplatLoc : Ultra-Precise Camera Localization via 3D Gaussian Splatting, arXiv, 2024. [Paper] [Code]
GeomGS: LiDAR-Guided Geometry-Aware Gaussian Splatting for Robot Localization, arXiv, 2025. [Paper]
3D Gaussian Splatting aided Localization for Large and Complex Indoor-Environments, arXiv, 2025. [Paper]
GS-EVT: Cross-Modal Event Camera Tracking based on Gaussian Splatting, ICRA, 2025. [Paper] [Code]
GSFeatLoc: Visual Localization Using Feature Correspondence on 3D Gaussian Splatting, arXiv, 2025. [Paper]
STDLoc: From Sparse to Dense: Camera Relocalization with Scene-Specific Detector from Feature Gaussian Splatting, CVPR, 2025. [Paper][Website] [Code]
SGLoc: Semantic Localization System for Camera Pose Estimation from 3D Gaussian Splatting Representation, IROS, 2025. [Paper]
3DGS-Loc: 3D Gaussian Splatting for Map Representation and Visual Localization, Journal of Autonomous Vehicles and Systems, 2025. [Paper]
GSVisLoc: Generalizable Visual Localization for Gaussian Splatting Scene Representations, arXiv, 2025. [Paper]
Camera Pose Refinement via 3D Gaussian Splatting, arXiv, 2025. [Paper]
3DGS-ReLoc: 3D Gaussian Splatting for Map Representation and Visual ReLocalization, ICCV, 2023. [Paper]
GauLoc: 3D Gaussian Splatting-based Camera Relocalization, Computer Graphics Forum, 2024. [Paper] [Code]
GS-Loc: A Vision Foundation Model-Driven 3D Gaussian Splatting Framework for Robust Visual Relocalization, RAL, 2025. [Paper]

3.8 Foundation Model

SLAM3R:Real-Time Dense Scene Reconstruction from Monocular RGB Videos, CVPR, 2025. [Paper]
MASt3R-SLAM: Real-Time Dense SLAM with 3D Reconstruction Priors, CVPR, 2025. [Paper]
ViSTA-SLAM: Visual SLAM with Symmetric Two-view Association, 3DV, 2026. [Paper]
VGGT-SLAM: Dense RGB SLAM Optimized on the SL(4) Manifold, arXiv. [Website]

4.Navigation

4.1 Geometric Representations

Navigation on point-cloud-a riemannian metric approach, ICRA, 2014. [Paper]
Localization and navigation of a mobile robot using natural point landmarks extracted from sonar data, Robotics and Autonomous Systems, 2000. [Paper]
OctoMap: An Efficient Probabilistic 3D Mapping Framework Based on Octrees, Autonomous Robots, 2013. [Paper] [Code]
Fast-Planner: Robust and Efficient Quadrotor Trajectory Generation for Fast Autonomous Flight, IEEE Robot. Autom. Lett., 2019. [Paper] [Code]
Voxblox: Incremental 3d euclidean signed distance fields for on-board mav planning, IROS, 2017. [Paper] [Code]
FIESTA: Fast Incremental Euclidean Distance Fields for Online Motion Planning of Aerial Robots, IROS, 2019. [Paper] [Code]

4.2 NeRF-based Representations

Vision-only robot navigation in a neural radiance world (NeRF-Navigation), IEEE Robot. Autom. Lett., 2022. [Paper] [Website]
NFOMP: Neural field for optimal motion planner of differential drive robots with nonholonomic constraints, IEEE Robot. Autom. Lett., 2022. [Paper]
CATNIPS: Collision Avoidance Through Neural Implicit Probabilistic Scenes, IEEE Trans. Robot., 2024. [Paper]
RNR-Map: Renderable Neural Radiance Map for Visual Navigation, CVPR, 2023. [Paper] [Website]
Enhancing Exploratory Capability of Visual Navigation Using Uncertainty of Implicit Scene Representation, IROS, 2024. [Paper]

4.3 3DGS-based Representations

Path Planning

GaussNav: Gaussian Splatting for Visual Navigation, IEEE Trans. Pattern Anal. Mach. Intell., 2025. [Paper] [Code]
Splat-Nav: Safe Real-Time Robot Navigation in Gaussian Splatting Maps, IEEE Trans. Robot., 2025. [Paper]
BEINGS: Bayesian Embodied Image-goal Navigation with Gaussian Splatting, arXiv, 2024. [Paper]

Exploration

GS-Planner: A Gaussian-Splatting-based Planning Framework for Active High-Fidelity Reconstruction, IROS, 2024. [Paper]
Beyond Uncertainty: Risk-Aware Active View Acquisition for Safe Robot Navigation and 3D Scene Understanding with FisherRF, arXiv, 2024. [Paper]

4.4 Foundation Model

NLMap: Open-vocabulary queryable scene representations for real world planning, ICRA, 2023. [Paper] [Website] [Code]
LM-Nav: Robotic navigation with large pre-trained models of language, vision, and action, CoRL, 2023. [Paper] [Website] [Code]
VLN-BERT: Improving vision-and-language navigation with image-text pairs from the web, ECCV, 2020. [Paper] [Code]
SayCan: Do As I Can, Not As I Say: Grounding Language in Robotic Affordances, CoRL, 2022. [Paper] [Website]
VLP: Vision language planning for autonomous driving, CVPR, 2024. [Paper] [Code]
Reasoned Explorer: Reasoning about the unseen for efficient outdoor object navigation, arXiv, 2023. [Paper] [Website]
VoxPoser: Composable 3D Value Maps for Robotic Manipulation with Language Models, CoRL, 2023. [Paper] [Website]
SayTap: Language to Quadrupedal Locomotion, arXiv, 2023. [Paper] [Website]

5.Manipulation

5.1 Point Cloud

PointNetGPD: Detecting Grasp Configurations from Point Sets, ICRA, 2019. [Paper][Code]
Contact-GraspNet: Efficient 6-DoF Grasp Generation in Cluttered Scenes, ICRA, 2021. [Paper][Code][Website]

5.2 Voxel Grid

Shape Completion Enabled Robotic Grasping, IROS, 2017. [Paper][Code][Website]
VoxelNet: End-to-End Learning for Point Cloud Based 3D Object Detection, CVPR, 2018. [Paper][Code]
Volumetric Grasping Network: Real-time 6 DOF Grasp Detection in Clutter, CoRL, 2020. [Paper][Code]
Fast Task Planning with Neuro-Symbolic Relaxation, arXiv. [Paper][Website]

5.3 Signed Distance Field (SDF)

5.4 Mesh

5.5 Scene Graph

Neural Descriptor Fields:SE(3)-Equivariant Object Representations for Manipulation, ICRA, 2022. [Paper] [Code] [Website]
Sequential Manipulation Planning on Scene Graph, IROS, 2022. [Website]
RoboEXP: Action-Conditioned Scene Graph via Interactive Exploration for Robotic Manipulation, CoRL, 2024. [Paper][Code][Website]
Dynamic Open-Vocabulary 3D Scene Graphs for Long-Term Language-Guided Mobile Manipulation, IRAL, 2025. [Paper][Code][Website]

5.6 Neural Radiance Fields (NeRF)

Dex-NeRF: Using a Neural Radiance Field to Grasp Transparent Objects, CoRL, 2021. [Paper][Website]
Evo-NeRF: Evolving NeRF for Sequential Robot Grasping of Transparent Objects, CoRL, 2022. [Paper][Website]
GraspNeRF: Multiview-based 6-DoF Grasp Detection for Transparent and Specular Objects Using Generalizable NeRF, ICRA, 2023. [Paper][Code][Website]
Radiance Fields for Robotic Teleoperation, IROS, 2024. [Paper][Code]

5.7 3D Gaussian Splatting (3DGS)

Grasping Field: Learning Implicit Representations for Human Grasps, 3DV, 2020. [Paper] [Code] [Video]
GIGA: Synergies Between Affordance and Geometry: 6-DoF Grasp Detection via Implicit Representations, RSS, 2021. [Paper] [Code] [Website]
Neural Motion Fields: Encoding Grasp Trajectories as Implicit Value Functions, RSS, 2022. [Paper] [Video]
ObjectFolder: A Dataset of Objects with Implicit Visual, Auditory, and Tactile Representations, CVPR, 2022. [Paper] [Code] [Website]
Relational-NDF:SE(3)-Equivariant Relational Rearrangement with Neural Descriptor Fields, CoRL, 2022. [Paper] [Code] [Website]
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]
Point'n Move: Interactive scene object manipulation on Gaussian splatting radiance fields, IET, 2024. [Paper][Code]
Reinforcement Learning with Generalizable Gaussian Splatting, IROS, 2024. [Paper]
MANUS: Markerless Grasp Capture using Articulated 3D Gaussians, CVPR, 2024. [Paper][Code][Website]
ManiGaussian: Dynamic Gaussian Splatting for Multi-task Robotic Manipulation, ECCV, 2024. [Paper][Code][Website]
GaussianGrasper: 3D Language Gaussian Splatting for Open-Vocabulary Robotic Grasping, RAL, 2024. [Paper][Code][Website]
3D-Aware Manipulation with Object-Centric Gaussian Splatting, ICRA, 2024. [Paper] [Website]
Radiance Fields for Robotic Teleoperation, IROS, 2024. [Paper][Website][Video]
GraspSplats: Efficient Manipulation with 3D Feature Splatting, CoRL, 2024. [Paper][Code][Website]
Object-Aware Gaussian Splatting for Robotic Manipulation, ICRA, 2024. [Paper][Website]
Dynamic 3D Gaussian Tracking for Graph-Based Neural Dynamics Modeling, CoRL, 2024. [Paper][Code][Website]
HGS-Planner: Hierarchical Planning Framework for Active Scene Reconstruction Using 3D Gaussian Splatting, ICRA, 2025. [Paper][Website]
SplatSim: Zero-Shot Sim2Real Transfer of RGB Manipulation Policies Using Gaussian Splatting, ICRA, 2025. [Paper][Code][Website]
Gaussian Splatting to Real World Flight Navigation Transfer with Liquid Networks, arXiv. [Paper][Website]
MSGField: A Unified Scene Representation Integrating Motion, Semantics, and Geometry for Robotic Manipulation, arXiv. [Paper][Code][Website]
Physically Embodied Gaussian Splatting: A Realtime Correctable World Model for Robotics, arXiv, [Paper][Code][Website]

5.8 Foundation Model

Ditto: Building Digital Twins of Articulated Objects from Interaction, CVPR, 2022. [Paper] [Code] [Website]
LERF: Language Embedded Radiance Fields, ICCV, 2023. [Paper][Code][Website]
Distilled Feature Fields Enable Few-Shot Language-Guided Manipulation, CoRL, 2023. [Paper][Code][Website]
GNFactor: Multi-Task Real Robot Learning with Generalizable Neural Feature Fields, CORL, 2023. [Paper][Code][Website]
Code as Policies: Language Model Programs for Embodied Control, ICRA, 2023. [Paper][Code][Website]
Open-vocabulary Queryable Scene Representations for Real World Planning, ICRA, 2023. [Paper][Code][Website]
CATNIPS: Collision Avoidance Through Neural Implicit Probabilistic Scenes, TRO, 2024. [Paper][Code][Website]
Enhancing Exploratory Capability of Visual Navigation Using Uncertainty of Implicit Scene Representation, IROS, 2024. [Paper][Code]
DreamHOI: Subject-Driven Generation of 3D Human-Object Interactions with Diffusion Priors, ICCVW, 2025. [Paper][Code][Website]
EnerVerse: Envisioning Embodied Future Space for Robotics Manipulation，arXiv. [Paper][Website]
Do As I Can, Not As I Say: Grounding Language in Robotic Affordances, arXiv. [Paper][Code][Website]

6.Simulation

Control4D: Efficient 4D Portrait Editing with Text, CVPR, 2024. [Paper] [Website]
Comp4D: LLM-Guided Compositional 4D Scene Generation, arXiv. [Paper] [Website] [Code]
GALA3D: Towards Text-to-3D Complex Scene Generation via Layout-guided Generative Gaussian Splatting, arXiv. [Paper] [Website] [Code]
Controllable Text-to-3D Generation via Surface-Aligned Gaussian Splatting, arXiv. [Paper] [Website] [Code]
Hyper-3DG:Text-to-3D Gaussian Generation via Hypergraph, arXiv. [Paper] [Website] [Code]
DreamScene: 3D Gaussian-based Text-to-3D Scene Generation via Formation Pattern Sampling, arXiv. [Paper] [Website] [Code]
BrightDreamer: Generic 3D Gaussian Generative Framework for Fast Text-to-3D Synthesis, arXiv. [Paper] [Website] [Code]
GVGEN: Text-to-3D Generation with Volumetric Representation, arXiv. [Paper] [Website] [Code]
DreamPolisher: Towards High-Quality Text-to-3D Generation via Geometric Diffusion, arXiv. [Paper] [Website] [Code]
DreamScene360: Unconstrained Text-to-3D Scene Generation with Panoramic Gaussian Splatting, ECCV, 2024. [Paper] [Website]
RealmDreamer: Text-Driven 3D Scene Generation with Inpainting and Depth Diffusion, arXiv. [Paper] [Website]
Text-to-3D using Gaussian Splatting, CVPR, 2024. [Paper] [Website] [Code]
DreamGaussian: Generative Gaussian Splatting for Efficient 3D Content Creation, arXiv. [Paper] [Website] [Code]
GaussianDreamer: Fast Generation from Text to 3D Gaussian Splatting with Point Cloud Priors, arXiv. [Paper] [Website] [Code]
GaussianDiffusion: 3D Gaussian Splatting for Denoising Diffusion Probabilistic Models with Structured Noise, arXiv. [Paper] [Website]
LucidDreamer: Towards High-Fidelity Text-to-3D Generation via Interval Score Matching, CVPR, 2024. [Paper] [Website] [Code]
CG3D: Compositional Generation for Text-to-3D, arXiv. [Paper] [Website]
Align Your Gaussians: Text-to-4D with Dynamic 3D Gaussians and Composed Diffusion Models, CVPR, 2024. [Paper] [Website]
Text2Immersion: Generative Immersive Scene with 3D Gaussian, arXiv. [Paper] [Website]
GSEdit: Efficient Text-Guided Editing of 3D Objects via Gaussian Splatting, arXiv. [Paper]
GaussCtrl: Multi-View Consistent Text-Driven 3D Gaussian Splatting Editing, arXiv. [Paper]
View-Consistent 3D Editing with Gaussian Splatting, arXiv. [Paper]
Gaussian Frosting: Editable Complex Radiance Fields with Real-Time Rendering, arXiv. [Paper] [Website] [Code]
ICE-G: Image Conditional Editing of 3D Gaussian Splats, CVPR, 2024. [Paper] [Website]
GaussianEditor: Swift and Controllable 3D Editing with Gaussian Splatting, CVPR, 2024. [Paper] [Website] [Code]
GaussianEditor: Editing 3D Gaussians Delicately with Text Instructions, CVPR, 2024. [Paper] [Website]
Gaussian Grouping: Segment and Edit Anything in 3D Scenes, ECCV, 2024. [Paper] [Code]
StyleGaussian: Instant 3D Style Transfer with Gaussian Splatting, arXiv. [Paper] [Website] [Code]
Gaussian Splatting in Style, arXiv. [Paper]
StylizedGS: Controllable Stylization for 3D Gaussian Splatting, arXiv. [Paper]
3DEgo: 3D Editing on the Go!, ECCV, 2024. [Paper]
GScream: Learning 3D Geometry and Feature Consistent Gaussian Splatting for Object Removal, ECCV, 2024. [Paper]
Gaussian Splatting with Localized Points Management, arXiv, 2024. [Paper]
Localized Gaussian Splatting Editing with Contextual Awareness, arXiv, 2024. [Paper]
3D Gaussian Editing with A Single Image, arXiv. [Paper]
G-Style: Stylized Gaussian Splatting, arXiv. [Paper]
AGG: Amortized Generative 3D Gaussians for Single Image to 3D, arXiv. [Paper] [Website]
Repaint123: Fast and High-quality One Image to 3D Generation with Progressive Controllable 2D Repainting, arXiv. [Paper] [Website] [Code]
GaussianPU: A Hybrid 2D-3D Upsampling Framework for Enhancing Color Point Clouds via 3D Gaussian Splatting, arXiv. [Paper]
WaSt-3D: Wasserstein-2 Distance for Scene-to-Scene Stylization on 3D Gaussians, arXiv. [Paper]
Generative Object Insertion in Gaussian Splatting with a Multi-View Diffusion Model, arXiv. [Paper]
TIP-Editor: An Accurate 3D Editor Following Both Text-Prompts And Image-Prompts, arXiv. [Paper] [Website]
DreamScene4D: Dynamic Multi-Object Scene Generation from Monocular Videos, arXiv. [Paper] [Website] [Code]
Connecting Consistency Distillation to Score Distillation for Text-to-3D Generation, ECCV, 2024. [Paper] [Code]
DreamMapping: High-Fidelity Text-to-3D Generation via Variational Distribution Mapping, arXiv. [Paper]
DreamMesh: Jointly Manipulating and Texturing Triangle Meshes for Text-to-3D Generation, arXiv. [Paper]
Hi3D: Pursuing High-Resolution Image-to-3D Generation with Video Diffusion Models, arXiv. [Paper]
SceneTeller: Language-to-3D Scene Generation, ECCV 2024. [Paper]
HoloDreamer: Holistic 3D Panoramic World Generation from Text Descriptions, arXiv. [Paper]
SV4D: Dynamic 3D Content Generation with Multi-Frame and Multi-View Consistency, arXiv. [Paper]
ART3D: 3D Gaussian Splatting for Text-Guided Artistic Scenes Generation, CVPR, 2024. [Paper]
3D-Adapter: Geometry-Consistent Multi-View Diffusion for High-Quality 3D Generation, arXiv. [Paper]
ProEdit: Simple Progression is All You Need for High-Quality 3D Scene Editing, arXiv. [Paper]
Baking Gaussian Splatting into Diffusion Denoiser for Fast and Scalable Single-stage Image-to-3D Generation, arXiv. [Paper]
Generating 3D-Consistent Videos from Unposed Internet Photos, arXiv. [Paper]
Direct and Explicit 3D Generation from a Single Image, arXiv. [Paper]
PhyCAGE: Physically Plausible Compositional 3D Asset Generation from a Single Image, arXiv. [Paper]
Neural Surface Priors for Editable Gaussian Splatting, arXiv. [Paper]
SplatFlow: Multi-View Rectified Flow Model for 3D Gaussian Splatting Synthesis, arXiv. [Paper]
Distractor-free Generalizable 3D Gaussian Splatting, arXiv. [Paper]
Text-to-3D Gaussian Splatting with Physics-Grounded Motion Generation, arXiv. [Paper]
Diffusion-Based Attention Warping for Consistent 3D Scene Editing, arXiv. [Paper]
ProGDF: Progressive Gaussian Differential Field for Controllable and Flexible 3D Editing, arXiv. [Paper]
EditSplat: Multi-View Fusion and Attention-Guided Optimization for View-Consistent 3D Scene Editing with 3D Gaussian Splatting, arXiv. [Paper]
3DSceneEditor: Controllable 3D Scene Editing with Gaussian Splatting, arXiv. [Paper]
Instant3dit: Multiview Inpainting for Fast Editing of 3D Objects, arXiv. [Paper]
ZDySS -- Zero-Shot Dynamic Scene Stylization using Gaussian Splatting, arXiv. [Paper]
Drag Your Gaussian: Effective Drag-Based Editing with Score Distillation for 3D Gaussian Splatting, arXiv. [Paper]

Citation

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

@article{deng2025best,
  title={What Is The Best 3D Scene Representation for Robotics? From Geometric to Foundation Models},
  author={Deng, Tianchen and Pan, Yue and Yuan, Shenghai and Li, Dong and Wang, Chen and Li, Mingrui and Chen, Long and Xie, Lihua and Wang, Danwei and Wang, Jingchuan and others},
  journal={arXiv preprint arXiv:2512.03422},
  year={2025}
}

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Awesome 3D Scene Representation for Robotics

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

Overview

Survey

[S0] What Is The Best 3D Scene Representation for Robotics? From Geometric to Foundation Models

[S1] Foundation Models in Robotics: Applications, Challenges, and the Future

[S2] Toward General-Purpose Robots via Foundation Models: A Survey and Meta-Analysis

[S3] Advances in Feed-Forward 3D Reconstruction and View Synthesis: A Survey

[S4] A Survey on 3D Gaussian Splatting

[S5] 3D Gaussian as a New Vision Era: A Survey

General Model

Photorealistic

Sparse View

Accelerate & Compression

Geometry & Physics

1.Perception

1.1 Point Cloud

1.2 Voxel Grid

1.3 Signed Distance Field (SDF)

1.4 Mesh

1.5 Scene Graph

1.6 Neural Radiance Fields (NeRF)

1.7 3D Gaussian Splatting (3DGS)

1.8 Foundation Model

2.Mapping

2.1 Point Cloud

2.2 Voxel Grid

2.3 Signed Distance Field (SDF)

2.4 Mesh

2.5 Scene Graph

2.6 Neural Radiance Fields (NeRF)

2.6.1 SLAM

2.7 3D Gaussian Splatting (3DGS)

2.7.1 SLAM

2.7.2 Scene Reconstruction

2.8 Foundation Model<a id="2.8-Foundation-Model>

3.Localization<a id="localization>

3.1 Point Cloud

3.2 Voxel Grid

3.3 Signed Distance Field (SDF)

3.4 Mesh

3.5 Scene Graph

3.6 Neural Radiance Fields (NeRF)

3.7 3D Gaussian Splatting (3DGS)

3.8 Foundation Model

4.Navigation

4.1 Geometric Representations

4.2 NeRF-based Representations

4.3 3DGS-based Representations

Path Planning

Exploration

4.4 Foundation Model

5.Manipulation

5.1 Point Cloud

5.2 Voxel Grid

5.3 Signed Distance Field (SDF)

5.4 Mesh

5.5 Scene Graph

5.6 Neural Radiance Fields (NeRF)

5.7 3D Gaussian Splatting (3DGS)

5.8 Foundation Model

6.Simulation

Citation

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