This repository contains a curated list of resources addressing the 3DGS (3D Gaussian Splatting) SLAM, includinig image sensor, event camera, and LiDAR, etc.

If you find some ignored papers, feel free to create pull requests, or open issues.

Contributions in any form to make this list more comprehensive are welcome.

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• Image-based 3DGS
• LiDAR-based 3DGS
• Event-based 3DGS

Year	Venue	Paper Title	Repository	Note
2026	arXiv	LangGS-SLAM: Real-Time Language-Feature Gaussian Splatting SLAM	---	从VLM（一个语义分割模型）中嵌入三维特征场，实现开放词汇和大语言模型交互式感知；3DGS部分用的GICP
2026	arXiv	PointSLAM++: Robust Dense Neural Gaussian Point Cloud-based SLAM	---	混合Neural（MLP）-Gaussian representation，pose优化采用GICP+ORB重投影误差融合
2026	arXiv	PLANING: A Loosely Coupled Triangle-Gaussian Framework for Streaming 3D Reconstruction	---	website Mesh+3DGS混合表征:用Mesh构建稳定几何骨架，用3DGS填充视觉细节;前端采用MASt3R等前馈模型预测pointmap和相机姿态
2026	Neurocomputing	2D Gaussian Primitive SLAM: Real-Time Dense SLAM with 2D Gaussian Primitives	---	---
2026	arXiv	FeatureSLAM: Feature-enriched 3D gaussian splatting SLAM in real time	---	---
2026	Pattern Recognition	RGD-SLAM: Robust Gaussian Splatting SLAM for Dynamic Environments		---
2026	Proceedings of the IEEE International Symposium on High Performance Computer Architecture	Splatonic: Architecture Support for 3D Gaussian Splatting SLAM via Sparse Processing	---	website
2025	IROS	Pseudo Depth Meets Gaussian: A Feed-forward RGB SLAM Baseline		单目深度估计模型生成伪深度图+3D高斯实现高效在线重建
2025	arXiv	RGS-SLAM: Robust Gaussian Splatting SLAM with One-Shot Dense Initialization	---	---
2025	RAL	MANG-SLAM: Multi-Agent Neural Submap and Gaussian Representation for Dense Mapping	---	NeRF+3DGS+多机融合建图
2025	RAL	DQO-MAP: Real-Time Object-Level SLAM With Dual Quadrics and Gaussians		---
2025	arXiv	ATLAS Navigator: Active Task-driven LAnguage-embedded Gaussian Splatting	---	website
2025	arXiv	D2GSLAM: 4D Dynamic Gaussian Splatting SLAM	---	---
2025	arXiv	LEGO-SLAM: Language-Embedded Gaussian Optimization SLAM		website
2025	arXiv	Robust 3DGS-based SLAM via Adaptive Kernel Smoothing	---	---
2025	arXiv	VIGS-SLAM: Visual Inertial Gaussian Splatting SLAM	---	website
2025	TRO	OmniMap: A General Mapping Framework Integrating Optics, Geometry, and Semantics		website
2025	ICCV	DyGS-SLAM: Real-Time Accurate Localization and Gaussian Reconstruction for Dynamic Scenes	---	---
2025	ICCV	Segs-slam: Structure-enhanced 3d gaussian splatting slam with appearance embedding	---	---
2025	arXiv	RoGER-SLAM: A Robust Gaussian Splatting SLAM System for Noisy and Low-light Environment Resilience	---	---
2025	RAL	GaussR-SLAM: Gaussian Robust SLAM in Data Loss and Interference Environments	---	---
2025	arXiv	MCGS-SLAM: A Multi-Camera SLAM Framework Using Gaussian Splatting for High-Fidelity Mapping	---	website
2025	arXiv	Gaussian-Plus-SDF SLAM: High-fidelity 3D Reconstruction at 150+ fps	---	---
2025	arXiv	MemGS: Memory-Efficient Gaussian Splatting for Real-Time SLAM		---
2025	arXiv	DyPho-SLAM: Real-time Photorealistic SLAM in Dynamic Environments	---	---
2025	arXiv	AGS: Accelerating 3D Gaussian Splatting SLAM via CODEC-Assisted Frame Covisibility Detection	---	---
2025	ICRA	FGO-SLAM: Enhancing Gaussian SLAM with Globally Consistent Opacity Radiance Field	---	---
2025	arXiv	Stereo 3D Gaussian Splatting SLAM for Outdoor Urban Scenes	---	---
2025	ICCV	SEGS-SLAM: Structure-enhanced 3D Gaussian Splatting SLAM with Appearance Embedding		website
2025	arXiv	MGSO: Monocular Real-time Photometric SLAM with Efficient 3D Gaussian Splatting	---	---
2025	arXiv	Stereo 3D Gaussian Splatting SLAM for Outdoor Urban Scenes	---	---
2025	arXiv	S3LAM: Surfel Splatting SLAM for Geometrically Accurate Tracking and Mapping	---	---
2025	arXiv	Stereo 3D Gaussian Splatting SLAM for Outdoor Urban Scenes	---	---
2025	arXiv	G2S-ICP SLAM: Geometry-aware Gaussian Splatting ICP SLAM	---	---
2025	ICRA	RGB-Only Gaussian Splatting SLAM for Unbounded Outdoor Scenes		website
2025	ICCV	Outdoor Monocular SLAM with Global Scale-Consistent 3D Gaussian Pointmaps		website
2025	IEEE Transactions on Artificial Intelligence	Constrained Gaussian Splatting via Implicit TSDF Hash Grid for Dense RGB-D SLAM	---	---
2025	Joint International Conference on Automation-Intelligence-Safety	Mono-SLAM: Monocular 3D Gaussian Splatting SLAM with Geometric Loss and Multi-view Consistency	---	---
2025	RAL	FusionGS-SLAM: Multiple Sensors Fusion for Localization and Real-Time Photorealistic Mapping	---	---
2025	RAL	SAGA-SLAM: Scale-Adaptive 3D Gaussian Splatting for Visual SLAM	---	---
2025	arXiv	GRAND-SLAM: Local Optimization for Globally Consistent Large-Scale Multi-Agent Gaussian SLAM	---	---
2025	RAL	Dense Monocular SLAM in Real-time with Structured Gaussian Representation	---	---
2025	arXiv	TVG-SLAM: Robust Gaussian Splatting SLAM with Tri-view Geometric Constraints	---	---
2025	arXiv	GRAND-SLAM: Local Optimization for Globally Consistent Large-Scale Multi-Agent Gaussian SLAM	---	---
2025	IROS	SplatPose: Geometry-Aware 6-DoF Pose Estimation from Single RGB Image via 3D Gaussian Splatting	---	---
2025	TASE	MG-SLAM: Structure Gaussian Splatting SLAM with Manhattan World Hypothesis	---	---
2025	arXiv	Dy3DGS-SLAM: Monocular 3D Gaussian Splatting SLAM for Dynamic Environments	---	---
2025	arXiv	GS4: Generalizable Sparse Splatting Semantic SLAM	---	website
2025	International Conference on Autonomous Agents and Multiagent Systems	OGS-SLAM: Hybrid ORB-Gaussian Splatting SLAM		---
2025	arXiv	Globally Consistent RGB-D SLAM with 2D Gaussian Splatting		MASt3R for Loop Closure
2025	arXiv	VTGaussian-SLAM: RGBD SLAM for Large Scale Scenes with Splatting View-Tied 3D Gaussians	---	website
2025	arXiv	VPGS-SLAM: Voxel-based Progressive 3D Gaussian SLAM in Large-Scale Scenes		---
2025	arXiv	ADD-SLAM: Adaptive Dynamic Dense SLAM with Gaussian Splatting	---	---
2025	arXiv	LGSBA: Local Gaussian Splatting Bundle Adjustment for Optimizing 3DGS Rendering Quality		---
2025	CVPR	4DTAM: Non-Rigid Tracking and Mapping via Dynamic Surface Gaussians		website
2025	arXiv	UP-SLAM: Adaptively Structured Gaussian SLAM with Uncertainty Prediction in Dynamic Environments	---	website
2025	arXiv	DynaGSLAM: Real-Time Gaussian-Splatting SLAM for Online Rendering, Tracking, Motion Predictions of Moving Objects in Dynamic Scenes		website
2025	arXiv	Large-Scale Gaussian Splatting SLAM	---	website
2025	IEEE-SJ	DSOSplat: Monocular 3D Gaussian SLAM with Direct Tracking	---	---
2025	arXiv	GauS-SLAM: Dense RGB-D SLAM with Gaussian Surfels		website
2025	RSS	GauSS-MI: Gaussian Splatting Shannon Mutual Information for Active 3D Reconstruction		---
2025	arXiv	GSFF-SLAM: 3D Semantic Gaussian Splatting SLAM via Feature Field	---	---
2025	arXiv	GSFeatLoc: Visual Localization Using Feature Correspondence on 3D Gaussian Splatting	---	---
2025	CVPR	SmallGS: Gaussian Splatting Based Camera Pose Estimation for Small-Baseline Videos	---	website MonST3R+3DGS
2025	arXiv	Enhancing Gaussian Splatting SLAM with Feature-based Tracking	---	---
2025	arXiv	ToF-Splatting: Dense SLAM using Sparse Time-of-Flight Depth and Multi-Frame Integration	---	---
2025	RAL	SDD-SLAM: Semantic-Driven Dynamic SLAM with Gaussian Splatting	---	---
2025	IEEE Sensors Journal	Dynamic SLAM with 3D Gaussian Splatting Supporting Monocular Sensing	---	---
2025	arXiv	SLAM&Render: A Benchmark for the Intersection Between Neural Rendering, Gaussian Splatting and SLAM		website dataset
2025	arXiv	Direct Sparse Odometry with Continuous 3D Gaussian Maps for Indoor Environments		---
2025	CVPR	MAGiC-SLAM: Multi-Agent Gaussian Globally Consistent SLAM		website
2025	arXiv	4D Gaussian Splatting SLAM		website
2025	arXiv	GI-SLAM: Gaussian-Inertial SLAM	---	---
2025	arXiv	FGS-SLAM: Fourier-based Gaussian Splatting for Real-time SLAM with Sparse and Dense Map Fusion	---	---
2025	ICRA	OpenGS-SLAM: Open-Set Dense Semantic SLAM with 3D Gaussian Splatting for Object-Level Scene Understanding		website
2025	arXiv	VIGS SLAM: IMU-based Large-Scale 3D Gaussian Splatting SLAM	---	---
2025	arXiv	Embracing Dynamics: Dynamics-aware 4D Gaussian Splatting SLAM	---	---
2025	arXiv	Monogs++: Fast and accurate monocular rgb gaussian slam	---	---
2025	RAL	RGBDS-SLAM: A RGB-D Semantic Dense SLAM Based on 3D Multi Level Pyramid Gaussian Splatting		---
2025	TRO	VINGS-Mono: Visual-Inertial Gaussian Splatting Monocular SLAM in Large Scenes		website
2025	CVPR	WildGS-SLAM: Monocular Gaussian Splatting SLAM in Dynamic Environments		website
2025	arXiv	GARAD-SLAM: 3D GAussian splatting for Real-time Anti Dynamic SLAM	---	---
2025	arXiv	GS-GVINS: A Tightly-integrated GNSS-Visual-Inertial Navigation System Augmented by 3D Gaussian Splatting	---	---
2024	arXiv	FlashSLAM: Accelerated RGB-D SLAM for Real-Time 3D Scene Reconstruction with Gaussian Splatting		website
2025	TRO	PG-SLAM: Photo-realistic and Geometry-aware RGB-D SLAM in Dynamic Environments	---	---
2024	ECCV	6dgs: 6d pose estimation from a single image and a 3d gaussian splatting model		website
2024	arXiv	Splat-slam: Globally optimized rgb-only slam with 3d gaussians		---
2024	arXiv	TAMBRIDGE: Bridging Frame-Centered Tracking and 3D Gaussian Splatting for Enhanced SLAM		website
2024	arXiv	HI-SLAM2: Geometry-Aware Gaussian SLAM for Fast Monocular Scene Reconstruction		website
2024	NIPS	DG-SLAM: Robust Dynamic Gaussian Splatting SLAM with Hybrid Pose Optimization		---
2025	ICRA	Gassidy: Gaussian Splatting SLAM in Dynamic Environments	---	website
2024	arXiv	DGS-SLAM: Gaussian Splatting SLAM in Dynamic Environment		---
2024	International Conference on Robotics, Control and Automation Engineering	Motiongs: Compact gaussian splatting slam by motion filter	---	---
2024	arXiv	Ngm-slam: Gaussian splatting slam with radiance field submap	---	---
2024	arXiv	Monocular gaussian slam with language extended loop closure	---	---
2024	RAL	Mgs-slam: Monocular sparse tracking and gaussian mapping with depth smooth regularization	---	---
2024	ACM SIGGRAPH	Rtg-slam: Real-time 3d reconstruction at scale using gaussian splatting		website
2024	arXiv	3dgs-reloc: 3d gaussian splatting for map representation and visual relocalization	---	---
2024	ECCV	Rgbd gs-icp slam		---
2024	ECCV	Cg-slam: Efficient dense rgb-d slam in a consistent uncertainty-aware 3d gaussian field		website
2024	IROS	Mm3dgs slam: Multi-modal 3d gaussian splatting for slam using vision, depth, and inertial measurements		website
2024	RAL	Neds-slam: A neural explicit dense semantic slam framework using 3d gaussian splatting	---	---
2024	IROS	High-fidelity slam using gaussian splatting with rendering-guided densification and regularized optimization		---
2024	arXiv	Semgauss-slam: Dense semantic gaussian splatting slam	---	---
2024	ECCV	Sgs-slam: Semantic gaussian splatting for neural dense slam		---
2024	CVPR	Photo-slam: Real-time simultaneous localization and photorealistic mapping for monocular stereo and rgb-d cameras		website
2024	CVPR	Gaussian splatting slam		website MonoGS
2024	CVPR	Splatam: Splat track & map 3d gaussians for dense rgb-d slam		website
2024	CVPR	Gs-slam: Dense visual slam with 3d gaussian splatting		website
2023	arXiv	Gaussian-slam: Photo-realistic dense slam with gaussian splatting		website

Year	Venue	Paper Title	Repository	Note
2025	RAL	Rad-GS: Radar-Vision Integration for 3D Gaussian Splatting SLAM in Outdoor Environments	---	首个4D Radar-视觉融合的3DGS-SLAM框架，实现千米级户外稳健建图;以3D高斯作为可微空间表示，融合原始雷达点云的多普勒信息与几何增强点云，引导同步图像中的动态目标掩码生成，减少渲染伪影并提升定位精度；同时利用非同步图像帧全局优化3D高斯表示，增强纹理一致性与新视角合成保真度；通过全局八叉树结构结合目标高斯基元管理策略，抑制噪声并降低大规模环境下的内存消耗，实现了稳健的户外建图与大规模场景重建。
2025	IROS	GS-SDF: LiDAR-Augmented Gaussian Splatting and Neural SDF for Geometrically Consistent Rendering and Reconstruction		website
2025	arXiv	LVD-GS: Gaussian Splatting SLAM for Dynamic Scenes via Hierarchical Explicit-Implicit Representation Collaboration Rendering	---	---
2025	arXiv	AgriGS-SLAM: Orchard Mapping Across Seasons via Multi-View Gaussian Splatting SLAM		---
2025	ICCV	GS-LIVM: Real-Time Photo-Realistic LiDAR-Inertial-Visual Mapping with Gaussian Splatting		---
2025	arXiv	Gaussian-LIC2: LiDAR-Inertial-Camera Gaussian Splatting SLAM		website
2025	arXiv	Splat-LOAM: Gaussian Splatting LiDAR Odometry and Mapping		Test
2025	arXiv	GS-LIVO: Real-Time LiDAR, Inertial, and Visual Multi-sensor Fused Odometry with Gaussian Mapping		---
2025	TIM	LVI-GS: Tightly-coupled LiDAR-Visual-Inertial SLAM using 3D Gaussian Splatting	---	website
2024	RAL	LiV-GS: LiDAR-Vision Integration for 3D Gaussian Splatting SLAM in Outdoor Environments	---	---
2025	ICRA	Gaussian-lic: Photo-realistic lidar-inertial-camera slam with 3d gaussian splatting		website
2024	ECCV	TCLC-GS: Tightly Coupled LiDAR-Camera Gaussian Splatting for Autonomous Driving: Supplementary Materials	---	---
2024	IROS	MM-Gaussian: 3D Gaussian-based multi-modal fusion for localization and reconstruction in unbounded scenes	---	---
2024	RAL	LIV-GaussMap: LiDAR-inertial-visual fusion for real-time 3D radiance field map rendering		---
2024	CVPR	Drivinggaussian: Composite gaussian splatting for surrounding dynamic autonomous driving scenes		---

Year	Venue	Paper Title	Repository	Note
2025	NIPS	Spike4DGS: Towards High-Speed Dynamic Scene Rendering with 4D Gaussian Splatting via a Spike Camera Array	---	---
2025	Expert Systems with Applications	E2D-GS: Event-Enhanced Deblurring Gaussian Splatting	---	---
2025	arXiv	Event-guided 3D Gaussian Splatting for Dynamic Human and Scene Reconstruction	---	---
2025	arXiv	DeblurSplat: SfM-free 3D Gaussian Splatting with Event Camera for Robust Deblurring	---	DUSt3R+Event+3DGS
2025	RAl	EGS-SLAM: RGB-D Gaussian Splatting SLAM with Events		---
2025	arXiv	E-4DGS: High-Fidelity Dynamic Reconstruction from the Multi-view Event Cameras	---	---
2025	arXiv	EDyGS: Event Enhanced Dynamic 3D Radiance Fields from Blurry Monocular Video		---
2025	CVPR	DiET-GS: Diffusion Prior and Event Stream-Assisted Motion Deblurring 3D Gaussian Splatting Supplementary Material		website
2025	arXiv	GS2E: Gaussian Splatting is an Effective Data Generator for Event Stream Generation		website
2025	arXiv	EBAD-Gaussian: Event-driven Bundle Adjusted Deblur Gaussian Splatting	---	---
2025	AAAI	SpikeGS: Reconstruct 3D Scene Captured by a Fast-Moving Bio-Inspired Camera		website
2025	AAAI	EvHDR-GS: Event-guided HDR Video Reconstruction with 3D Gaussian Splatting	---	---
2025	3DV	E-3DGS: Event-based Novel View Rendering of Large-scale Scenes Using 3D Gaussian Splatting		website test
2024	arXiv	IncEventGS: Pose-Free Gaussian Splatting from a Single Event Camera		---
2024	arXiv	EventSplat: 3D Gaussian Splatting from Moving Event Cameras for Real-time Rendering	---	---
2024	Asia Pacific Signal and Information Processing Association Annual Summit and Conference	Ev3DGS: Event Enhanced 3D Gaussian Splatting from Blurry Images		---
2024	IEEE International Conference on Image Processing	E2gs: Event enhanced gaussian splatting		---
2024	arXiv	Evagaussians: Event stream assisted gaussian splatting from blurry images		website
2024	CoRL	Event3dgs: Event-based 3d gaussian splatting for fast egomotion		website
2024	ICML	Evggs: A collaborative learning framework for event-based generalizable gaussian splatting		---

• MrNeRF's Awesome 3DGS
• convert 3D meshes into 3DGS
• Survey for SLAM in Legged Robot：Paper List
• Survey for Learning-based VO,VIO,IO：Paper List
• Survey for Transformer-based SLAM：Paper List
• Survey for Diffusion-based SLAM：Paper List
• Survey for NeRF-based SLAM：Blog
• Survey for Deep IMU-Bias Inference Blog
• Paper Survey for Degeneracy of LiDAR-SLAM Blog
• Paper Survey for dynamic SLAM Blog
• Reproduction and Learning for LOAM Series Blog
• A geometry-shader-based, global CUDA sorted high-performance 3D Gaussian Splatting rasterizer. Can achieve a 5-10x speedup in rendering compared to the vanialla diff-gaussian-rasterization.fast-gaussian-rasterization
• Other related papers:

Year	Venue	Paper Title	Repository	Note
2026	arXiv	Towards Next-Generation SLAM: A Survey on 3DGS-SLAM Focusing on Performance, Robustness, and Future Directions	---	---
2025	arXiv	Revisiting Depth Representations for Feed-Forward 3D Gaussian Splatting		website
2025	arXiv	Voyager: Real-Time Splatting City-Scale 3D Gaussians on Your Phone	---	website
2025	arXiv	R3GS: Gaussian Splatting for Robust Reconstruction and Relocalization in Unconstrained Image Collections	---	---
2025	arXiv	Recollection from Pensieve: Novel View Synthesis via Learning from Uncalibrated Videos		---
2025	arXiv	STORM: Spatio-Temporal Reconstruction Model for Large-Scale Outdoor Scenes		website
2025	SIGGRAPH	Monocular Online Reconstruction with Enhanced Detail Preservation	---	website
2025	arXiv	Sparse2DGS: Geometry-Prioritized Gaussian Splatting for Surface Reconstruction from Sparse Views		---
2025	CVPR	ODHSR: Online Dense 3D Reconstruction of Humans and Scenes from Monocular Videos		website
2025	arXiv	You Need a Transition Plane: Bridging Continuous Panoramic 3D Reconstruction with Perspective Gaussian Splatting		---
2024	arXiv	GaussianSpa: An" Optimizing-Sparsifying" Simplification Framework for Compact and High-Quality 3D Gaussian Splatting		website
2024	ACM International Conference on Multimedia	Spikegs: 3d gaussian splatting from spike streams with high-speed camera motion	---	---
2024	ICLR	Real-time photorealistic dynamic scene representation and rendering with 4d gaussian splatting		4DGS
2024	ACM SIGGRAPH	2d gaussian splatting for geometrically accurate radiance fields		website 2DGS
2024	CVPR	Dngaussian: Optimizing sparse-view 3d gaussian radiance fields with global-local depth normalization		---
2024	RAL	HGS-mapping: Online dense mapping using hybrid Gaussian representation in urban scenes	---	---
2024	arXiv	Compact 3d gaussian splatting for dense visual slam		---
2024	CVPR	4d gaussian splatting for real-time dynamic scene rendering		website 4DGS
2023	ACM Transactions on Graphics	3d gaussian splatting for real-time radiance field rendering		website