{"id":"https://openalex.org/W7130402520","doi":"https://doi.org/10.1109/tro.2026.3666139","title":"How NeRFs and 3-D Gaussian Splatting Are Reshaping SLAM: A Survey","display_name":"How NeRFs and 3-D Gaussian Splatting Are Reshaping SLAM: A Survey","publication_year":2026,"publication_date":"2026-01-01","ids":{"openalex":"https://openalex.org/W7130402520","doi":"https://doi.org/10.1109/tro.2026.3666139"},"language":null,"primary_location":{"id":"doi:10.1109/tro.2026.3666139","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2026.3666139","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5025804456","display_name":"Fabio Tosi","orcid":"https://orcid.org/0000-0002-6276-5282"},"institutions":[{"id":"https://openalex.org/I9360294","display_name":"University of Bologna","ror":"https://ror.org/01111rn36","country_code":"IT","type":"education","lineage":["https://openalex.org/I9360294"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Fabio Tosi","raw_affiliation_strings":["University of Bologna, Bologna, Italy"],"raw_orcid":"https://orcid.org/0000-0002-6276-5282","affiliations":[{"raw_affiliation_string":"University of Bologna, Bologna, Italy","institution_ids":["https://openalex.org/I9360294"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126303911","display_name":"Youmin Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I4210125143","display_name":"Chengdu University","ror":"https://ror.org/034z67559","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210125143"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Youmin Zhang","raw_affiliation_strings":["Rawmantic AI, Chengdu, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Rawmantic AI, Chengdu, China","institution_ids":["https://openalex.org/I4210125143"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102620404","display_name":"Ziren Gong","orcid":null},"institutions":[{"id":"https://openalex.org/I9360294","display_name":"University of Bologna","ror":"https://ror.org/01111rn36","country_code":"IT","type":"education","lineage":["https://openalex.org/I9360294"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Ziren Gong","raw_affiliation_strings":["University of Bologna, Bologna, Italy"],"raw_orcid":"https://orcid.org/0000-0003-0093-835X","affiliations":[{"raw_affiliation_string":"University of Bologna, Bologna, Italy","institution_ids":["https://openalex.org/I9360294"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Erik Sandstr\u00f6m","orcid":null},"institutions":[{"id":"https://openalex.org/I4210100430","display_name":"Google (Switzerland)","ror":"https://ror.org/014f9c269","country_code":"CH","type":"company","lineage":["https://openalex.org/I1291425158","https://openalex.org/I4210100430","https://openalex.org/I4210128969"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Erik Sandstr\u00f6m","raw_affiliation_strings":["Google Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Google Zurich, Switzerland","institution_ids":["https://openalex.org/I4210100430"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Stefano Mattoccia","orcid":"https://orcid.org/0000-0002-3681-7704"},"institutions":[{"id":"https://openalex.org/I9360294","display_name":"University of Bologna","ror":"https://ror.org/01111rn36","country_code":"IT","type":"education","lineage":["https://openalex.org/I9360294"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Stefano Mattoccia","raw_affiliation_strings":["University of Bologna, Bologna, Italy"],"raw_orcid":"https://orcid.org/0000-0002-3681-7704","affiliations":[{"raw_affiliation_string":"University of Bologna, Bologna, Italy","institution_ids":["https://openalex.org/I9360294"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Martin R. Oswald","orcid":"https://orcid.org/0000-0002-1183-9958"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Martin R. Oswald","raw_affiliation_strings":["ETH Zürich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0002-1183-9958","affiliations":[{"raw_affiliation_string":"ETH Zürich, Switzerland","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5035953107","display_name":"Poggi Mg","orcid":null},"institutions":[{"id":"https://openalex.org/I9360294","display_name":"University of Bologna","ror":"https://ror.org/01111rn36","country_code":"IT","type":"education","lineage":["https://openalex.org/I9360294"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Matteo Poggi","raw_affiliation_strings":["University of Bologna, Bologna, Italy"],"raw_orcid":"https://orcid.org/0000-0002-3337-2236","affiliations":[{"raw_affiliation_string":"University of Bologna, Bologna, Italy","institution_ids":["https://openalex.org/I9360294"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5025804456"],"corresponding_institution_ids":["https://openalex.org/I9360294"],"apc_list":null,"apc_paid":null,"fwci":166.1022,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.99945828,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"42","issue":null,"first_page":"1405","last_page":"1427"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.7132999897003174,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.7132999897003174,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.07779999822378159,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12153","display_name":"Advanced Optical Sensing Technologies","score":0.04910000041127205,"subfield":{"id":"https://openalex.org/subfields/3105","display_name":"Instrumentation"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/radiance","display_name":"Radiance","score":0.7706999778747559},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.44130000472068787},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.4410000145435333},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.43720000982284546},{"id":"https://openalex.org/keywords/deep-neural-networks","display_name":"Deep neural networks","score":0.4250999987125397},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.38119998574256897},{"id":"https://openalex.org/keywords/gaussian-process","display_name":"Gaussian process","score":0.3504999876022339}],"concepts":[{"id":"https://openalex.org/C23690007","wikidata":"https://www.wikidata.org/wiki/Q1411145","display_name":"Radiance","level":2,"score":0.7706999778747559},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7008000016212463},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5873000025749207},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4580000042915344},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.44130000472068787},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.4410000145435333},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.43720000982284546},{"id":"https://openalex.org/C2984842247","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep neural networks","level":3,"score":0.4250999987125397},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.38119998574256897},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.3504999876022339},{"id":"https://openalex.org/C2983761899","wikidata":"https://www.wikidata.org/wiki/Q604674","display_name":"Robot vision","level":4,"score":0.31709998846054077},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3082999885082245},{"id":"https://openalex.org/C2986897749","wikidata":"https://www.wikidata.org/wiki/Q231761","display_name":"Potential field","level":2,"score":0.2912999987602234},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2840000092983246},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.2791000008583069},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.27379998564720154},{"id":"https://openalex.org/C48983235","wikidata":"https://www.wikidata.org/wiki/Q593161","display_name":"Light field","level":2,"score":0.27140000462532043},{"id":"https://openalex.org/C15336307","wikidata":"https://www.wikidata.org/wiki/Q1766051","display_name":"Lens (geology)","level":2,"score":0.26260000467300415}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2026.3666139","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2026.3666139","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":175,"referenced_works":["https://openalex.org/W1536078990","https://openalex.org/W1612997784","https://openalex.org/W1987648924","https://openalex.org/W1991544872","https://openalex.org/W1999478155","https://openalex.org/W2015934494","https://openalex.org/W2021851106","https://openalex.org/W2042819305","https://openalex.org/W2071906076","https://openalex.org/W2080823437","https://openalex.org/W2097696373","https://openalex.org/W2108134361","https://openalex.org/W2117228865","https://openalex.org/W2119851068","https://openalex.org/W2127578024","https://openalex.org/W2133665775","https://openalex.org/W2146881125","https://openalex.org/W2150066425","https://openalex.org/W2151103935","https://openalex.org/W2160547335","https://openalex.org/W2198527813","https://openalex.org/W2250172176","https://openalex.org/W2336961836","https://openalex.org/W2396274919","https://openalex.org/W2461937780","https://openalex.org/W2535547924","https://openalex.org/W2594519801","https://openalex.org/W2606794968","https://openalex.org/W2621274416","https://openalex.org/W2776330782","https://openalex.org/W2788608285","https://openalex.org/W2805202215","https://openalex.org/W2805521962","https://openalex.org/W2810107285","https://openalex.org/W2951019013","https://openalex.org/W2951730755","https://openalex.org/W2962705366","https://openalex.org/W2962785568","https://openalex.org/W2963045776","https://openalex.org/W2963150697","https://openalex.org/W2963706662","https://openalex.org/W2979652999","https://openalex.org/W2991621648","https://openalex.org/W3003179103","https://openalex.org/W3007689203","https://openalex.org/W3034275286","https://openalex.org/W3043075211","https://openalex.org/W3043971245","https://openalex.org/W3048686556","https://openalex.org/W3112108866","https://openalex.org/W3117476483","https://openalex.org/W3132401233","https://openalex.org/W3147597595","https://openalex.org/W3154129649","https://openalex.org/W3159481202","https://openalex.org/W3166285241","https://openalex.org/W3203066970","https://openalex.org/W3203570626","https://openalex.org/W3203806429","https://openalex.org/W3203887644","https://openalex.org/W3206395965","https://openalex.org/W3207826836","https://openalex.org/W3214712237","https://openalex.org/W3215023725","https://openalex.org/W3215769467","https://openalex.org/W4200150166","https://openalex.org/W4214520160","https://openalex.org/W4214564845","https://openalex.org/W4214661523","https://openalex.org/W4214768561","https://openalex.org/W4221151978","https://openalex.org/W4225108568","https://openalex.org/W4249866455","https://openalex.org/W4281642191","https://openalex.org/W4283373333","https://openalex.org/W4297846303","https://openalex.org/W4307783807","https://openalex.org/W4309345265","https://openalex.org/W4312325284","https://openalex.org/W4312357798","https://openalex.org/W4312706422","https://openalex.org/W4312878643","https://openalex.org/W4312971576","https://openalex.org/W4315778466","https://openalex.org/W4317796409","https://openalex.org/W4323020910","https://openalex.org/W4327662982","https://openalex.org/W4382119227","https://openalex.org/W4383066059","https://openalex.org/W4383108462","https://openalex.org/W4383109324","https://openalex.org/W4383109509","https://openalex.org/W4385063029","https://openalex.org/W4385318467","https://openalex.org/W4385569643","https://openalex.org/W4386066489","https://openalex.org/W4386066696","https://openalex.org/W4386066812","https://openalex.org/W4386071839","https://openalex.org/W4386075953","https://openalex.org/W4386249539","https://openalex.org/W4386432320","https://openalex.org/W4387623994","https://openalex.org/W4389335080","https://openalex.org/W4389665446","https://openalex.org/W4390224511","https://openalex.org/W4390421916","https://openalex.org/W4390872919","https://openalex.org/W4390873060","https://openalex.org/W4390873101","https://openalex.org/W4390874575","https://openalex.org/W4391642770","https://openalex.org/W4391936169","https://openalex.org/W4392904189","https://openalex.org/W4392970266","https://openalex.org/W4393248012","https://openalex.org/W4394625812","https://openalex.org/W4396853098","https://openalex.org/W4399574562","https://openalex.org/W4400187964","https://openalex.org/W4400228262","https://openalex.org/W4400403028","https://openalex.org/W4400581059","https://openalex.org/W4400581064","https://openalex.org/W4400645582","https://openalex.org/W4400645603","https://openalex.org/W4401413641","https://openalex.org/W4401414086","https://openalex.org/W4401414773","https://openalex.org/W4401415835","https://openalex.org/W4401416647","https://openalex.org/W4401417384","https://openalex.org/W4402389384","https://openalex.org/W4402508564","https://openalex.org/W4402698355","https://openalex.org/W4402698358","https://openalex.org/W4402698362","https://openalex.org/W4402704609","https://openalex.org/W4402715988","https://openalex.org/W4402716305","https://openalex.org/W4402716403","https://openalex.org/W4402727238","https://openalex.org/W4402727359","https://openalex.org/W4402727597","https://openalex.org/W4402727865","https://openalex.org/W4402753538","https://openalex.org/W4402754302","https://openalex.org/W4402916634","https://openalex.org/W4402980676","https://openalex.org/W4403705798","https://openalex.org/W4403759854","https://openalex.org/W4403770187","https://openalex.org/W4403779097","https://openalex.org/W4403792110","https://openalex.org/W4403863392","https://openalex.org/W4404005295","https://openalex.org/W4404132771","https://openalex.org/W4404370915","https://openalex.org/W4404524486","https://openalex.org/W4405022604","https://openalex.org/W4405778928","https://openalex.org/W4405784946","https://openalex.org/W4405785039","https://openalex.org/W4405785276","https://openalex.org/W4405785974","https://openalex.org/W4405786079","https://openalex.org/W4405786867","https://openalex.org/W4405787770","https://openalex.org/W4407127931","https://openalex.org/W4407948647","https://openalex.org/W4408071484","https://openalex.org/W4413277638","https://openalex.org/W4415799241","https://openalex.org/W4416748885","https://openalex.org/W4416750251"],"related_works":[],"abstract_inverted_index":{"Over":[0],"the":[1,7,38,60,66,73,80,88,91,101,117],"past":[2],"two":[3],"decades,":[4],"research":[5,64],"in":[6,24,94],"field":[8],"of":[9,28,40,63,68,84,90],"Simultaneous":[10],"Localization":[11],"and":[12,53,65,107,109,120],"Mapping":[13],"(SLAM)":[14],"has":[15],"undergone":[16],"a":[17,69,112],"significant":[18],"evolution,":[19],"highlighting":[20],"its":[21],"critical":[22],"role":[23],"enabling":[25],"autonomous":[26],"exploration":[27],"unknown":[29],"environments.":[30],"This":[31],"evo-lution":[32],"ranges":[33],"from":[34],"hand-crafted":[35],"methods,":[36],"through":[37,87],"era":[39],"deep":[41],"learning,":[42],"to":[43,78,115],"more":[44],"recent":[45],"developments":[46],"focused":[47],"on":[48,72,100],"Neural":[49],"Radiance":[50],"Fields":[51],"(NeRFs)":[52],"3D":[54],"Gaussian":[55],"Splatting":[56],"(3DGS)":[57],"rep-resentations.":[58],"Recognizing":[59],"growing":[61],"body":[62],"absence":[67],"comprehensive":[70,82],"survey":[71],"topic,":[74],"this":[75],"paper":[76],"aims":[77],"provide":[79],"first":[81],"overview":[83],"SLAM":[85],"progress":[86,119],"lens":[89],"latest":[92],"advancements":[93],"radiance":[95],"fields.":[96],"It":[97],"sheds":[98],"light":[99],"background,":[102],"evolutionary":[103],"path,":[104],"inherent":[105],"strengths":[106],"limitations,":[108],"serves":[110],"as":[111],"fundamental":[113],"reference":[114],"highlight":[116],"dynamic":[118],"specific":[121],"challenges.":[122]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":6}],"updated_date":"2026-05-24T08:33:08.758527","created_date":"2026-02-19T00:00:00"}