Awesome-3D-Gaussian-Splatting-in-Robotics

🏠 Overview

• Application of 3DGS in Robotics
  • Scene Understanding
    • Reconstruction
      • Static Reconstruction
      • Dynamic Reconstruction
    • Segmentation & Editing
      • Scene Segmentation
      • Scene Editing
    • SLAM
      • Visual SLAM
      • Semantic SLAM
      • Multi-sensor Fusion SLAM
  • Scene Interaction
    • Manipulation
    • Navigation
      • Localization
      • Path Planning
• Advance of 3DGS in Robotics
  • Adaptability
    • Large-Scale
    • Motion-Blurred
  • Efficiency
    • Few-Shot
    • RMemory Efficiency

Application of 3DGS in Robotics

Static Reconstruction

• 360-GS: "360-GS: Layout-guided Panoramic Gaussian Splatting For Indoor Roaming", arXiv. [Paper] [Code]
• GaussianRoom: "GaussianRoom: Improving 3D Gaussian Splatting with SDF Guidance and Monocular Cues for Indoor Scene Reconstruction", arXiv. [Paper] [Code]
• IM3DG: "Integrating Meshes and 3D Gaussians for Indoor Scene Reconstruction with SAM Mask Guidance", arXiv. [Paper]
• GaussianPro: "GaussianPro: 3D Gaussian Splatting with Progressive Propagation", ICML 2024. [Paper] [Code] [Project Page]
• SWAG: "SWAG: Splatting in the Wild images with Appearance-conditioned Gaussians", ECCV 2024. [Paper]
• GauStudio: "GauStudio: A Modular Framework for 3D Gaussian Splatting and Beyond", arXiv. [Paper] [Code]
• HGS-Mapping: "HGS-Mapping: Online Dense Mapping Using Hybrid Gaussian Representation in Urban Scenes", RAL 2024. [Paper]
• HO-Gaussian: "HO-Gaussian: Hybrid Optimization of 3D Gaussian Splatting for Urban Scenes", ECCV 2024. [Paper]
• TCLC-GS: "TCLC-GS: Tightly Coupled LiDAR-Camera Gaussian Splatting for Autonomous Driving", ECCV 2024. [Paper]
• PGSR: "PGSR: Planar-based Gaussian Splatting for Efficient and High-Fidelity Surface Reconstruction", TVCG 2024. [Paper] [Code]
• Wild-GS: "Wild-GS: Real-Time Novel View Synthesis from Unconstrained Photo Collections", NeurIPS 2024. [Paper] [Code]
• WildGaussians: "WildGaussians: 3D Gaussian Splatting in the Wild", NeurIPS 2024. [Paper] [Code] [Project Page]
• DHGS: "DHGS: Decoupled Hybrid Gaussian Splatting for Driving Scene", arXiv. [Paper] [Project Page]

Dynamic Reconstruction

• PVG: "Periodic Vibration Gaussian: Dynamic Urban Scene Reconstruction and Real-time Rendering", arXiv. [Paper] [Code] [Project Page]
• DrivingGaussian: "DrivingGaussian: Composite Gaussian Splatting for Surrounding Dynamic Autonomous Driving Scenes", CVPR 2024. [Paper] [Code] [Project Page]
• Street Gaussians: "Street Gaussians: Modeling Dynamic Urban Scenes with Gaussian Splatting", ECCV 2024. [Paper] [Code] [Project Page]
• HUGS: "HUGS: Holistic Urban 3D Scene Understanding via Gaussian Splatting", CVPR 2024. [Paper] [Code] [Project Page]
• MoSca: "MoSca: Dynamic Gaussian Fusion from Casual Videos via 4D Motion Scaffolds", arXiv. [Paper] [Code] [Project Page]
• S^3Gaussian: "S^3Gaussian: Self-Supervised Street Gaussians for Autonomous Driving", arXiv. [Paper] [Code] [Project Page]
• 4DGF: "Dynamic 3D Gaussian Fields for Urban Areas", ECCV 2024. [Paper] [Code] [Project Page]
• VDG: "VDG: Vision-Only Dynamic Gaussian for Driving Simulation", arXiv. [Paper] [Project Page]
• EgoGaussian: "EgoGaussian: Dynamic Scene Understanding from Egocentric Video with 3D Gaussian Splatting", 3DV 2025. [Paper] [Code] [Project Page]
• AutoSplat: "AutoSplat: Constrained Gaussian Splatting for Autonomous Driving Scene Reconstruction", arXiv. [Paper] [Project Page]
• Dynamic 3DG: "Dynamic 3D Gaussians: Tracking by Persistent Dynamic View Synthesis", 3DV 2024. [Paper] [Code] [Project Page]
• Deformable 3DG: "Deformable 3D Gaussians for High-Fidelity Monocular Dynamic Scene Reconstruction", CVPR 2024. [Paper] [Code] [Project Page]
• 4DGaussians: "4D Gaussian Splatting for Real-Time Dynamic Scene Rendering", CVPR 2024. [Paper] [Code] [Project Page]
• P4DGS: "Real-time Photorealistic Dynamic Scene Representation and Rendering with 4D Gaussian Splatting", ICLR 2024. [Paper] [Code] [Project Page]
• Efficient 3DG: "An Efficient 3D Gaussian Representation for Monocular/Multi-view Dynamic Scenes", arXiv. [Paper] [Code]
• SC-GS: "SC-GS: Sparse-Controlled Gaussian Splatting for Editable Dynamic Scenes", CVPR 2024. [Paper] [Code]
• Gaussian-Flow: "Gaussian-Flow: 4D Reconstruction with Dynamic 3D Gaussian Particle", CVPR 2024. [Paper] [Code] [Project Page]
• GauFRe: "GauFRe: Gaussian Deformation Fields for Real-time Dynamic Novel View Synthesis", arXiv. [Paper] [Project Page]
• SWAGS: "SWAGS: Sampling Windows Adaptively for Dynamic 3D Gaussian Splatting", arXiv. [Paper]
• STG: "Spacetime Gaussian Feature Splatting for Real-Time Dynamic View Synthesis", CVPR 2024. [Paper] [Code] [Project Page]
• 4D-Rotor: "4D-Rotor Gaussian Splatting: Towards Efficient Novel View Synthesis for Dynamic Scenes", SIGGRAPH 2024. [Paper] [Code] [Project Page]
• 3DGStream: "3DGStream: On-the-Fly Training of 3D Gaussians for Efficient Streaming of Photo-Realistic Free-Viewpoint Videos", CVPR 2024. [Paper] [Code] [Project Page]
• ED3DGS: "Per-Gaussian Embedding-Based Deformation for Deformable 3D Gaussian Splatting", ECCV 2024. [Paper] [Code] [Project Page]
• GaGS: "3D Geometry-Aware Deformable Gaussian Splatting for Dynamic View Synthesis", CVPR 2024. [Paper] [Project Page]
• R3DG: "A Refined 3D Gaussian Representation for High-Quality Dynamic Scene Reconstruction" , arXiv. [Paper]
• SP-GS: "Superpoint Gaussian Splatting for Real-Time High-Fidelity Dynamic Scene Reconstruction", ICML 2024. [Paper] [Code] [Project Page]
• AmbientGaussian: "Modeling Ambient Scene Dynamics for Free-view Synthesis", SIGGRAPH 2024. [Paper] [Project Page]
• DGM: "Dynamic Gaussian Marbles for Novel View Synthesis of Casual Monocular Videos", SIGGRAPH Asia 2024. [Paper] [Code] [Project Page]
• GS-LK: "Gaussian Splatting LK", arXiv. [Paper]
• S4D: "S4D: Streaming 4D Real-World Reconstruction with Gaussians and 3D Control Points", arXiv. [Paper]

Scene Segmentation

• Gaussian Grouping: "Gaussian Grouping: Segment and Edit Anything in 3D Scenes", ECCV 2024. [Paper] [Code]
• SAGA: "Segment Any 3D Gaussians", arXiv. [Paper] [Code]
• Feature 3DGS: "Feature 3DGS: Supercharging 3D Gaussian Splatting to Enable Distilled Feature Fields", CVPR 2024. [Paper] [Code] [Project Page]
• 3DG Seg: "2D-Guided 3D Gaussian Segmentation", arXiv. [Paper]
• CoSSegGaussians: "CoSSegGaussians: Compact and Swift Scene Segmenting 3D Gaussians with Dual Feature Fusion", arXiv. [Paper] [Project Page]
• SAGD: "SAGD: Boundary-Enhanced Segment Anything in 3D Gaussian via Gaussian Decomposition", arXiv. [Paper]
• Semantic Gaussians: "Semantic Gaussians: Open-Vocabulary Scene Understanding with 3D Gaussian Splatting", arXiv. [Paper] [Code] [Project Page]
• EgoLifter: "EgoLifter: Open-world 3D Segmentation for Egocentric Perception", ECCV 2024. [Paper] [Code] [Project Page]
• Gaga: "Gaga: Group Any Gaussians via 3D-aware Memory Bank", arXiv. [Paper]
• CGC: "Contrastive Gaussian Clustering: Weakly Supervised 3D Scene Segmentation", arXiv. [Paper]
• CLIP-GS: "CLIP-GS: CLIP-Informed Gaussian Splatting for Real-time and View-consistent 3D Semantic Understanding", arXiv. [Paper] [Project Page]
• FMGS: "FMGS: Foundation Model Embedded 3D Gaussian Splatting for Holistic 3D Scene Understanding", IJCV 2024. [Paper] [Project Page]
• RT-GS2: "RT-GS2: Real-Time Generalizable Semantic Segmentation for 3D Gaussian Representations of Radiance Fields", BMVC 2024. [Paper] [Project Page]
• OpenGaussian: "OpenGaussian: Towards Point-Level 3D Gaussian-based Open Vocabulary Understanding", NeurIPS 2024. [Paper] [Code] [Project Page]
• Click-Gaussian: "Click-Gaussian: Interactive Segmentation to Any 3D Gaussians", ECCV 2024. [Paper] [Project Page]
• SA4D: "Segment Any 4D Gaussians", arXiv. [Paper] [Code]
• GaussianBeV: "GaussianBeV: 3D Gaussian Representation meets Perception Models for BeV Segmentation", arXiv. [Paper]

Scene Editing

• GScream: "GScream: Learning 3D Geometry and Feature Consistent Gaussian Splatting for Object Removal", ECCV 2024. [Paper] [Code]
• ReGS: "Reference-based Controllable Scene Stylization with Gaussian Splatting", NeurIPS 2024. [Paper]
• Point'n Move: "Point'n Move: Interactive Scene Object Manipulation on Gaussian Splatting Radiance Fields", arXiv. [Paper]
• "3D Gaussian Editing with A Single Image", ACMMM 2024. [Paper]
• Feature Splatting: "Feature Splatting: Language-Driven Physics-Based Scene Synthesis and Editing", ECCV 2024. [Paper] [Code] [Project Page]
• Texture-GS: "Texture-GS: Disentangling the Geometry and Texture for 3D Gaussian Splatting Editing", ECCV 2024. [Paper] [Code]
• TIP-Editor: "TIP-Editor: An Accurate 3D Editor Following Both Text-Prompts And Image-Prompts", TOG 2024. [Paper] [Code] [Project Page]
• GSEdit: "GSEdit: Efficient Text-Guided Editing of 3D Objects via Gaussian Splatting", arXiv. [Paper]
• GaussCtrl: "GaussCtrl: Multi-View Consistent Text-Driven 3D Gaussian Splatting Editing", ECCV 2024. [Paper] [Code] [Project Page]
• "View-Consistent 3D Editing with Gaussian Splatting", ECCV 2024. [Paper]
• GaussianEditor: "GaussianEditor: Editing 3D Gaussians Delicately with Text Instructions", CVPR 2024. [Paper]
• GaussianEditor: "GaussianEditor: Swift and Controllable 3D Editing with Gaussian Splatting", CVPR 2024. [Paper] [Code] [Project Page]
• DGE: "DGE: Direct Gaussian 3D Editing by Consistent Multi-view Editing", ECCV 2024. [Paper] [Code] [Project Page]
• TIGER: "TIGER: Text-Instructed 3D Gaussian Retrieval and Coherent Editing", arXiv. [Paper] [Project Page]
• TrAME: "TrAME: Trajectory-Anchored Multi-View Editing for Text-Guided 3D Gaussian Splatting Manipulation", arXiv. [Paper]
• 3DEgo: "3DEgo: 3D Editing on the Go!", ECCV 2024. [Paper] [Project Page]
• "Localized Gaussian Splatting Editing with Contextual Awareness", WACV 2025. [Paper]
• StyleGaussian: "StyleGaussian: Instant 3D Style Transfer with Gaussian Splatting", SIGGRAPH Asia 2024. [Paper] [Code] [Project Page]
• StylizedGS: "StylizedGS: Controllable Stylization for 3D Gaussian Splatting", arxiv. [Paper]
• "Gaussian Splatting in Style", arxiv. [Paper]
• ICE-G: "ICE-G: Image Conditional Editing of 3D Gaussian Splats", arxiv. [Paper] [Project Page]
• StyleSplat: "StyleSplat: 3D Object Style Transfer with Gaussian Splatting", arxiv. [Paper] [Code] [Project Page]
• InstantStyleGaussian: "InstantStyleGaussian: Efficient Art Style Transfer with 3D Gaussian Splatting", arxiv. [Paper]

Visual SLAM

• SplaTAM: "SplaTAM: Splat, Track & Map 3D Gaussians for Dense RGB-D SLAM", CVPR 2024. [Paper] [Code] [Project Page]
• Gaussian-SLAM: "Gaussian-SLAM: Photo-realistic Dense SLAM with Gaussian Splatting", arxiv. [Paper] [Code] [Project Page]
• NGM-SLAM: "NGM-SLAM: Gaussian Splatting SLAM with Radiance Field Submap", arxiv. [Paper]
• MG-SLAM: "Structure Gaussian SLAM with Manhattan World Hypothesis", arxiv. [Paper]
• HF-SLAM: "High-Fidelity SLAM Using Gaussian Splatting with Rendering-Guided Densification and Regularized Optimization", IROS 2024. [Paper]
• CG-SLAM: "CG-SLAM: Efficient Dense RGB-D SLAM in a Consistent Uncertainty-aware 3D Gaussian Field", ECCV 2024. [Paper] [Code] [Project Page]
• GS-SLAM: "GS-SLAM: Dense Visual SLAM with 3D Gaussian Splatting", CVPR 2024. [Paper] [Project Page]
• GS-ICP SLAM: "RGBD GS-ICP SLAM", ECCV 2024. [Paper] [Code]
• TAMBRIDGE: "TAMBRIDGE: Bridging Frame-Centered Tracking and 3D Gaussian Splatting for Enhanced SLAM", arxiv. [Paper] [Code] [Project Page]
• Compact-SLAM: "Compact 3D Gaussian Splatting For Dense Visual SLAM", arxiv. [Paper]
• RTG-SLAM: "RTG-SLAM: Real-time 3D Reconstruction at Scale using Gaussian Splatting", SIGGRAPH 2024. [Paper] [Code] [Project Page]
• "Visual SLAM with 3D Gaussian Primitives and Depth Priors Enabling Novel View Synthesis", arxiv. [Paper]
• I^2-SLAM: "I^2-SLAM: Inverting Imaging Process for Robust Photorealistic Dense SLAM", ECCV 2024. [Paper]
• LoopSplat: "LoopSplat: Loop Closure by Registering 3D Gaussian Splats", 3DV 2025. [Paper] [Code] [Project Page]
• GSFusion: "GSFusion: Online RGB-D Mapping Where Gaussian Splatting Meets TSDF Fusion", RAL 2024. [Paper] [Code] [Project Page]
• MonoGS: "Gaussian splatting slam", CVPR 2024. [Paper] [Code] [Project Page]
• MotionGS: "MotionGS: Compact Gaussian Splatting SLAM by Motion Filter", arxiv. [Paper]
• Photo-SLAM: "Photo-SLAM: Real-time Simultaneous Localization and Photorealistic Mapping for Monocular, Stereo, and RGB-D Cameras", CVPR 2024. [Paper] [Code] [Project Page]
• MGS-SLAM: "MGS-SLAM: Monocular Sparse Tracking and Gaussian Mapping with Depth Smooth Regularization", RAL 2024. [Paper] [Code]
• MonoG-SLAM: "Monocular Gaussian SLAM with Language Extended Loop Closure", arxiv. [Paper]
• Splat-SLAM: "Splat-SLAM: Globally Optimized RGB-only SLAM with 3D Gaussians", arxiv. [Paper] [Code]
• IG-SLAM: "IG-SLAM: Instant Gaussian SLAM", ECCV 2024 NeuSLAM Workshop. [Paper] [Code]

Semantic SLAM

• SGS-SLAM: "SGS-SLAM: Semantic Gaussian Splatting For Neural Dense SLAM", ECCV 2024. [Paper] [Code]
• SemGauss-SLAM: "SemGauss-SLAM: Dense Semantic Gaussian Splatting SLAM", arxiv. [Paper] [Code]
• NEDS-SLAM: "NEDS-SLAM: A Neural Explicit Dense Semantic SLAM Framework using 3D Gaussian Splatting", RAL 2024. [Paper]
• GS3LAM: "GS3LAM: Gaussian Semantic Splatting SLAM", ACM MM 2024. [Paper] [Code]
• LEGS: "Language-Embedded Gaussian Splats (LEGS): Incrementally Building Room-Scale Representations with a Mobile Robot", IROS 2024. [Paper] [Code] [Project Page]

Multi-sensor Fusion SLAM

• LIV-GaussMap: "LIV-GaussMap: LiDAR-Inertial-Visual Fusion for Real-time 3D Radiance Field Map Rendering", RAL 2024. [Paper] [Code]
• Gaussian-LIC: "Gaussian-LIC: Real-Time Photo-Realistic SLAM with Gaussian Splatting and LiDAR-Inertial-Camera Fusion", arxiv. [Paper] [Code]
• MM-Gaussian: "MM-Gaussian: 3D Gaussian-based Multi-modal Fusion for Localization and Reconstruction in Unbounded Scenes", arxiv. [Paper]
• MM3DGS-SLAM: "MM3DGS-SLAM: Multi-modal 3D Gaussian Splatting for SLAM Using Vision, Depth, and Inertial Measurements", IROS 2024. [Paper] [Code] [Project Page]