Research map / 3D vision / Depth and stereo
Co-SLAM: Joint Coordinate and Sparse Parametric Encodings for Neural Real-Time SLAM
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Measured effects reported in the paper
| What was changed | Where | Measured | Effect |
|---|---|---|---|
| Use Co-SLAM instead of NICE-SLAM | Neural RGB-D SLAM · Replica | Comp.: 2.63 -> 2.08 | Helped |
| Use Co-SLAM instead of NICE-SLAM | Neural RGB-D SLAM · Synthetic RGB-D | Comp.: 5.30 -> 2.96 | Helped |
| Use Co-SLAM instead of NICE-SLAM | Neural RGB-D SLAM · ScanNet | ATE RMSE (unaligned): 23.97 -> 18.01 | Helped |
| Use one shared hash grid instead of separate color and geometry grids (ablation) | Co-SLAM · ScanNet | ATE: 8.69 -> 8.75 | No clear effect |
| Use one shared hash grid instead of separate color and geometry grids (ablation) | Co-SLAM · ScanNet | Memory: 1.7M -> 0.8M | Helped |
| Add pose optimization to global bundle adjustment (ablation) | Co-SLAM · ScanNet | ATE: 9.72 -> 8.75 | Helped |
| Add bundle adjustment (ablation) | Co-SLAM · ScanNet | ATE: 16.81 -> 8.75 | Helped |
| Use all keyframes rather than 10 randomly selected keyframes for global BA (ablation) | Co-SLAM · ScanNet | ATE: 9.54 -> 8.75 | Helped |
| Add the feature smoothness term (ablation) | Co-SLAM · Unobserved regions | hash-collision artefacts | Helped |
Closest papers by meaning
- Loopy-SLAM: Dense Neural SLAM with Loop Closures (CVPR 2024 · similarity 0.88)
- Benchmarking Implicit Neural Representation and Geometric Rendering in Real-Time RGB-D SLAM (CVPR 2024 · similarity 0.87)
- Photo-SLAM: Real-time Simultaneous Localization and Photorealistic Mapping for Monocular Stereo and RGB-D Cameras (CVPR 2024 · similarity 0.87)
- VGGT-SLAM: Dense RGB SLAM Optimized on the SL(4) Manifold (NeurIPS 2025 · similarity 0.87)
- SLAM3R: Real-Time Dense Scene Reconstruction from Monocular RGB Videos (CVPR 2025 · similarity 0.87)
- MNE-SLAM: Multi-Agent Neural SLAM for Mobile Robots (CVPR 2025 · similarity 0.86)
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