3D-Vision-World/All-3R-SLAM-in-this-Repo 开源项目中文解读：技术栈、适用场景与上手建议

项目介绍

3D-Vision-World/All-3R-SLAM-in-this-Repo 是一个托管在 GitHub 上的开源项目，目前获得 291 个 Star、14 次 Fork。

仓库全名: 3D-Vision-World/All-3R-SLAM-in-this-Repo

README 摘要

3D Geometric Foundation Models (3R) with SLAM Survey Paper Advances in Feed-Forward 3D Reconstruction and View Synthesis: A Survey, arXiv 2025. [Paper] [Website] Feed-Forward 3D Scene Modeling: A Problem-Driven Perspective, arXiv 2026. [Paper] [Website] 3D Geometric Foundation Models (3R) DUSt3R: Geometric 3D Vision Made Easy, CVPR 2024. [Paper] [Code] [Website] Monst3r: A simple approach for estimating geometry in…

完整内容见 GitHub 原始 README 或本页。

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This is a list of relevant papers for 3D Geometric Foundation Models and Applications.

3d-geometric-foundation-models dust3r mast3r slam vggt

291 Stars
14 Forks
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3D Geometric Foundation Models (3R) with SLAM

Survey Paper

Advances in Feed-Forward 3D Reconstruction and View Synthesis: A Survey, arXiv 2025. [Paper] [Website]
Feed-Forward 3D Scene Modeling: A Problem-Driven Perspective, arXiv 2026. [Paper] [Website]

3D Geometric Foundation Models (3R)

DUSt3R: Geometric 3D Vision Made Easy, CVPR 2024. [Paper] [Code] [Website]
Monst3r: A simple approach for estimating geometry in the presence of motion, ICLR 2025. [Paper] [Code] [Website]
LoRA3D: Low-Rank Self-Calibration of 3D Geometric Foundation Models, ICLR 2025. [Paper] [Website]
(CUT3R) Continuous 3D Perception Model with Persistent State, CVPR 2025. [Paper] [Code] [Website]
Reloc3r: Large-Scale Training of Relative Camera Pose Regression for Generalizable, Fast, and Accurate Visual Localization, CVPR 2025. [Paper] [Code]
DAS3R: Dynamics-Aware Gaussian Splatting for Static Scene Reconstruction, arXiv 2024. [Paper] [Code] [Website]
MASt3R-SfM: a Fully-Integrated Solution for Unconstrained Structure-from-Motion, 3DV 2025. [Paper] [Code]
Splatt3R: Zero-shot Gaussian Splatting from Uncalibrated Image Pairs, arXiv 2024. [Paper] [Project] [Code]
SAB3R: Semantic-Augmented Backbone in 3D Reconstruction, arXiv 2024. [Paper]
No Pose, No Problem: Surprisingly Simple 3D Gaussian Splats from Sparse Unposed Images, ICLR 2025. [Paper] [Code] [Website]
Doppelgangers++: Improved Visual Disambiguation with Geometric 3D Features, CVPR 2025. [Paper] [Code] [Project]
(Spann3R) 3D Reconstruction with Spatial Memory, 3DV 2025. [Paper] [Code] [Website]
Fast3R: Towards 3D Reconstruction of 1000+ Images in One Forward Pass, CVPR 2025. [Paper] [Website] [Code]
InstantSplat: Unbounded Sparse-view Pose-free Gaussian Splatting in 40 Seconds, arXiv 2025. [Paper] [Website] [Code]
SPARS3R: Semantic Prior Alignment and Regularization for Sparse 3D Reconstruction, arXiv 2024. [Paper] [Code]
Align3R: Aligned Monocular Depth Estimation for Dynamic Videos, CVPR 2025. [Paper] [Code] [Website]
(MASt3R) Grounding Image Matching in 3D with MASt3R, ECCV 2024. [Paper] [Code] [Website]
VGGT: Visual Geometry Grounded Transformer, CVPR 2025. [Paper] [Code] [Website]
E3D-Bench: A Benchmark for End-to-End 3D Geometric Foundation Models, arXiv 2025. [Paper] [Code] [Website]
π^3: Scalable Permutation-Equivariant Visual Geometry Learning, arXiv 2025. [Paper] [Code] [Website]
Dens3R: A Foundation Model for 3D Geometry Prediction, ICCV 2025. [Paper] [Code] [Website]
LONG3R: Long Sequence Streaming 3D Reconstruction, ICCV 2025. [Paper] [Code] [Website]
PanoSplatt3R: Leveraging Perspective Pretraining for Generalized Unposed Wide-Baseline Panorama Reconstruction, ICCV 2025. [Paper] [Code] [Website]
Ov3R: Open-Vocabulary Semantic 3D Reconstruction from RGB Videos, CVPR 2026. [Paper]
G-CUT3R: Guided 3D Reconstruction with Camera and Depth Prior Integration, arXiv 2025. [Paper]
ViPE: Video Pose Engine for 3D Geometric Perception, arXiv 2025. [Paper] [Code] [Website]
FastVGGT: Training-Free Acceleration of Visual Geometry Transformer, arXiv 2025. [Paper]
SAIL-Recon: Large SfM by Augmenting Scene Regression with Localization, arXiv 2025. [Paper] [Code] [Website]
Streaming 4D Visual Geometry Transformer, arXiv 2025. [Paper] [Code] [Website]
MapAnything: Universal Feed-Forward Metric 3D Reconstruction, arXiv 2025. [Paper] [Code] [Website]
TTT3R: 3D Reconstruction as Test-Time Training, arXiv 2025. [Paper] [Code] [Website]
Co-Me: Confidence Guided Token Merging for Visual Geometric Transformers, arXiv 2025. [Paper] [Code] [Website]
MB3R: Accurate Feed-forward Metric-scale 3D Reconstruction with Backend, arXiv 2025. [Paper]
VG3T: Visual Geometry Grounded Gaussian Transformer, arXiv 2025. [Paper]
KV-Tracker: Real-Time Pose Tracking with Transformers, arXiv 2025. [Paper] [Website]
V-DPM: 4D Video Reconstruction with Dynamic Point Mapss, arXiv 2026. [Paper] [Website] [Code]
S-MUSt3R: Sliding Multi-view 3D Reconstruction, arXiv 2026. [Paper]
Flow3r: Factored Flow Prediction for Scalable Visual Geometry Learning, arXiv 2026. [Paper] [Website] [Code]
VGG-T3: Offline Feed-Forward 3D Reconstruction at Scale, CVPR 2026. [Paper]
OnlineX: Unified Online 3D Reconstruction and Understanding with Active-to-Stable State Evolution, CVPR Finding 2026 2026. [Paper] [Website]
ZipMap: Linear-Time Stateful 3D Reconstruction with Test-Time Training, CVPR 2026. [Paper] [Code] [Website]
Dark3R: Learning Structure from Motion in the Dark, CVPR 2026. [Paper] [Website]
GGPT: Geometry-Grounded Point Transformer, CVPR 2026. [Paper] [Code] [Website]
Repurposing Geometric Foundation Models for Multi-view Diffusion, arXiv 2026. [Paper] [Code] [Website]
NOVA3R: Non-pixel-aligned Visual Transformer for Amodal 3D Reconstruction, ICLR 2026. [Paper] [Website
StereoVGGT: A Training-Free Visual Geometry Transformer for Stereo Vision, arXiv 2026. [Paper] [Code]
Fisheye3R: Adapting Unified 3D Feed-Forward Foundation Models to Fisheye Lenses, arXiv 2026. [Paper]
Learning 3D Reconstruction with Priors in Test Time, arXiv 2026. [Paper] [Website
Scal3R: Scalable Test-Time Training for Large-Scale 3D Reconstruction, CVPR 2026. [Paper] [Website [Code]
AnyRecon: Arbitrary-View 3D Reconstruction with Video Diffusion Model, arXiv 2026. [Paper] [Website [Code]
Emergent Extreme-View Geometry in 3D Foundation Models, CVPR 2026. [Paper] [Website [Code]
VGGT-Ω, CVPR 2026. [Paper] [Website [Code]
Mamba-VGGT: Persistent Long-Sequence Video Geometry Grounded Transformer via External Sliding Window Mamba Memory, arXiv 2026. [Paper]
UNIT: Unified Geometry Learning with Group Autoregressive Transformer, arXiv 2026. [Paper] [Website [Code]
Global Structure-from-Motion Meets Feedforward Reconstruction, CVPR 2026. [Paper] [Website [Code]
TriSplat: Simulation-Ready Feed-Forward 3D Scene Reconstruction, arXiv 2026. [Paper] [Website] [Code]
R3: 3D Reconstruction via Relative Regression, arXiv 2026. [Paper] [Website [Code]
EPO: Boosting 3D Foundation Models with Edge-based Pose Optimization, ECCV 2026. [Paper]
RayTun3R: Online Camera Adaptation in 3D Foundation Models, arXiv 2026. [Paper]
VI3: Grounding Pretrained 3D Foundation Models with Inertial Cues, arXiv 2026. [Paper] [Website
Hierarchical Structure-from-Motion Scales Feedforward Reconstruction, arXiv 2026. [Paper]
RoMa-Ω: What Feed-Forward 3D Models Know About Image Matching, ECCVw 2026. [Paper] [Code]
What VGGT Knows About Overlap: Probing Geometric Foundation Models for Co-Visibility, arXiv 2026. [Paper] [Code]
A Calibration Audit of Confidence in Feed-Forward 3D Reconstruction Models, arXiv 2026. [Paper]
Slot3R: Set-Associative Spatial Memory for Streaming 3D Reconstruction, arXiv 2026. [Paper] [Website] [Code]
BLASt3R: Bundle Adjustment of Any Image Set with Multi-view Matching and Monocular priors, ECCV 2026. [Paper]
Remember, Revisit, Revise: Scaffold Memory for Long-Horizon 3D Geometry, arXiv 2026. [Paper]

SLAM

Hier-SLAM++: Neuro-symbolic semantic slam with a hierarchically categorical Gaussian splatting, arXiv 2025. [Paper]
MegaSaM: Accurate, Fast, and Robust Structure and Motion from Casual Dynamic Videos, CVPR 2025. [Paper] [Website] [Code]
SLAM3R: Real-Time Dense Scene Reconstruction from Monocular RGB Videos, CVPR 2025. [Paper] [Code]
MASt3R-SLAM: Real-Time Dense SLAM with 3D Reconstruction Priors, CVPR 2025. [Paper] [Website] [Code]
VGGT-SLAM: Dense RGB SLAM Optimized on the SL(4) Manifold, arXiv 2025. [Paper] [Code]
Outdoor Monocular SLAM with Global Scale-Consistent 3D Gaussian Pointmaps, ICCV 2025. [Paper] [Website] [Code]
VGGT-Long: Chunk it, Loop it, Align it – Pushing VGGT’s Limits on Kilometer-scale Long RGB Sequences, ICRA, 2025. [Paper] [Code]
Pseudo Depth Meets Gaussian: A Feed-forward RGB SLAM Baseline, IROS, 2025. [Paper] [Code]
3D Foundation Model-Based Loop Closing for Decentralized Collaborative SLAM, RAL, 2025. [Paper]
ViSTA-SLAM: Visual SLAM with Symmetric Two-view Association, 3DV, 2026. [Paper] [Code]
SLAM-Former: Putting SLAM into One Transformer, arXiv 2025. [Paper] [Website] [Code]
MASt3R-Fusion: Integrating Feed-Forward Visual Model with IMU, GNSS for High-Functionality SLAM, arXiv, 2025. [Paper] [Code]
GRS-SLAM3R: Real-Time Dense SLAM with Gated Recurrent State, ICRA, 2026. [Paper]
EC3R-SLAM: Efficient and Consistent Monocular Dense SLAM with Feed-Forward 3D Reconstruction, ICRA, 2026. [Paper] [Website] [Code]
Visual Odometry with Transformers, arXiv 2025. [Paper] [Website] [Code]
ARTDECO: Towards Efficient and High-Fidelity On-the-Fly 3D Reconstruction with Structured Scene Representation, arXiv, 2025. [Paper] [Website] [Code]
MASt3R-GS: Bridging 3D Reconstruction Priors with Gaussian Splatting for Real-Time Dense SLAM, IROSw, 2025. [Paper]
LiDAR-VGGT: Cross-Modal Coarse-to-Fine Fusion for Globally Consistent and Metric-Scale Dense Mapping, RAL, 2026. [Paper] [Code]
Building temporally coherent 3D maps with VGGT for memory-efficient Semantic SLAM, arXiv, 2025. [Paper]
SING3R-SLAM: Submap-based Indoor Monocular Gaussian SLAM with 3D Reconstruction Prior, arXiv, 2025. [Paper]
KM-ViPE: Online Tightly Coupled Vision-Language-Geometry Fusion for Open-Vocabulary Semantic SLAM, arXiv, 2025. [Paper] [Code]
Dynamic Visual SLAM using a General 3D Prior, CVPR, 2026. [Paper] [Code]
OpenMonoGS-SLAM: Monocular Gaussian Splatting SLAM with Open-set Semantics, arXiv, 2025. [Paper]
Keyframe-Based Feed-Forward Visual Odometry, arXiv 2026. [Paper]
VGGT-SLAM 2.0: Real time Dense Feed-forward Scene Reconstruction, RSS 2026. [Paper]
VGGT-Motion: Motion-Aware Calibration-Free Monocular SLAM for Long-Range Consistency, arXiv 2026. [Paper]
VGGT-based online 3D semantic SLAM for indoor scene understanding and navigation, arXiv 2026. [Paper]
VGGT-Geo: Probabilistic Geometric Fusion of Visual Geometry Grounded Transformer Priors for Robust Dense Indoor SLAM, ISPRS International Journal of Geo-Information 2026. [Paper]
IRIS-SLAM: Unified Geo-Instance Representations for Robust Semantic Localization and Mapping, arXiv 2026. [Paper]
AIM-SLAM: Dense Monocular SLAM via Adaptive and Informative Multi-View Keyframe Prioritization with Foundation Model, ICRA, 2026. [Paper] [Website]
Flash-Mono: Feed-Forward Accelerated Gaussian Splatting Monocular SLAM, ICLR, 2026. [Paper] [Website]
HyVGGT-VO: Tightly Coupled Hybrid Dense Visual Odometry with Feed-Forward Models, RAL, 2026. [Paper] [Website] [Code]
VGGT-SLAM++, arXiv, 2026. [Paper]
Online3R: Online Learning for Consistent Sequential Reconstruction Based on Geometry Foundation Model, CVPR, 2026. [Paper] [Website]
Accelerating Transformer-Based Monocular SLAM via Geometric Utility Scoring, arXiv, 2026. [Paper] [Website]
Keep It CALM: Toward Calibration-Free Kilometer-Level SLAM with Visual Geometry Foundation Models via an Assistant Eye, arXiv, 2026. [Paper] [Code]
MR.ScaleMaster: Scale-Consistent Collaborative Mapping from Crowd-Sourced Monocular Videos, arXiv, 2026. [Paper] [Code]
RADIO-ViPE: Online Tightly Coupled Multi-Modal Fusion for Open-Vocabulary Semantic SLAM in Dynamic Environments, arXiv, 2026. [Paper] [Website] [Code]
MASTD3R-SLAM: Monocular Adaptive Semantic Tracking and Dynamic Reconstruction SLAM, ICRA, 2026. Paper-todo
AMB3R: Accurate Feed-forward Metric-scale 3D Reconstruction with Backend, CVPR, 2026. [Paper] [Website] [Code]
TALO: Pushing 3D Vision Foundation Models Towards Globally Consistent Online Reconstruction, CVPR, 2026. [Paper] [Website] [Code]
(LingBot-Map) Geometric Context Transformer for Streaming 3D Reconstruction, arXiv 2026. [Paper] [Website [Code]
TopoMA: Topology-Guided Multi-Agent Dense RGB 3D Reconstruction via Distributed Inference, CVPR, 2026. Paper-todo
LEXI-SG: Monocular 3D Scene Graph Mapping with Room-Guided Feed-Forward Reconstruction, arXiv, 2026. [Paper]
M^3: Dense Matching Meets Multi-View Foundation Models for Monocular Gaussian Splatting SLAM, arXiv, 2026. [Paper] [Website] [Code]
Efficient Feature-Free Initialization for Monocular Visual-Inertial Systems Using a Feed-Forward 3D Model, RSS, 2026. [Paper] [Code]
PRISM-SLAM: Probabilistic Ray-Grounded Inference for Scale-aware Metric SLAM, arXiv, 2026. [Paper] [Website]
CoMo3R-SLAM: Collaborative Monocular Dense SLAM with Learned 3D Reconstruction Priors for Outdoor Multi-Agent Systems, arXiv, 2026. [Paper] [Website]
ScaRF-SLAM: Scale-Consistent Reconstruction with Feed-Forward Models and Classical Visual SLAM, RAL, 2026. [Paper] [Code]
Anchor3R: Streaming 3D Reconstruction with Transient Anchors for Long-Horizon Visual Mapping, arXiv, 2026. [Paper]
GeoGS-SLAM: Online Monocular Reconstruction Using Gaussian Splatting with Geometric Priors, ICRA, 2026. [Paper] [Website]
MAGiSt3R: Multi-Agent Feed-forward 3D Reconstruction from Monocular RGB Videos, ECCV 2026. [Paper] [Website]
Look Up and Look Back: Hidden Attention and Latent Orientation in a Frozen Foundation Model for Panoramic SLAM, arXiv, 2026. [Paper]
UniSim-SLAM: Feed-Forward SLAM with Unified Sim(3) Optimization, ECCV, 2026. [Paper] [Website]
SLAMFormer-∞: Infinite SLAM Transformer for Unbounded Frontend and Backend Processing, arXiv, 2026. [Paper] [Website]
VGGT-Align: Bridging Local Reconstruction and Global Consistency for Long-Sequence 3D Reconstruction, ACM MM, 2026. [Paper] [Code]
On-the-Fly3R: Towards Robust Online 3D Reconstruction with Feed-Forward 3R Models for Large-Scale UAV Scenarios, arXiv, 2026. [Paper] [Code]
VOIM: Training-Free Open-Vocabulary 3D Instance Mapping for RGB-D and Monocular SLAM, arXiv, 2026. [Paper]
RoSe-SLAM: Robust Semantic-Aware Gaussian Splatting SLAM from Dynamic Monocular Videos, IROS, 2026. [Paper]
FoundationSLAM: Unleashing the Power of Depth Foundation Models for End-to-End Dense Visual SLAM, AAAI, 2026. [Paper]
Functional-SLAM: Interaction-Aware Mapping with Online Functional Scene Graphs, CoRL, 2026. [Paper] [Code]
FFVO: A Feedforward Pose Decoder for Long-Horizon Visual Odometry, arXiv, 2026. [Paper]
SURE-Map: Self-Correcting Streaming Geometric Foundation Models, arXiv, 2026. [Paper] [Website] [Code]
VGGT-GS SLAM: Uncalibrated Monocular Gaussian Splatting SLAM with Feed-Forward Priors, arXiv, 2026. [Paper]
AMB3R-SLAM: Kilometer-scale SLAM with Hierarchical Backend, arXiv, 2026. [Paper] [Website] [Code]
GRF-Recon: Global Ray-Field Optimization for Long-Sequence Feed-forward Reconstruction, arXiv, 2026. [Paper]
Dense Monocular SLAM in Real-Time With Structured Gaussian Representation, RAL, 2026. [Paper]
Adaptive World Memory 3D Foundation Model for Scalable 3D Mapping, Localization, and Rendering, arXiv, 2026. [Paper] [Code]
NOCTIF3R: Feed-Forward Monocular Real-Time SLAM for Photon-Limited Scenes on Embedded Hardware, arXiv, 2026. [Paper]
DAVIO: Dense Monocular–Inertial SLAM with Feed-Forward Initialization and Pose-Conditioned Mapping, arXiv, 2026. [Paper] [Website] [Code]
PROFusion: Robust and Accurate Dense Reconstruction via Camera Pose Regression and Optimization, ICRA, 2026. [Paper] [Code]
World SLAM Model: Joint World Modeling for SLAM and Navigation, arXiv, 2026. [Paper] [Code] [Website]
StreamRig: Exploiting Intra-Rig Geometry for Streaming Multi-Camera Odometry, arXiv, 2026. [Paper] [Code] [Website]
CLoSeR: Closing the Loop for Long-Context Streaming Reconstruction, NeurIPS 2026. [Paper] [Code]
Pow3R-SLAM: Real-Time RGB-D SLAM with 3D Reconstruction Priors, arXiv 2026. [Paper] [Code] [Website]
Robust and Efficient Monocular 3D Gaussian SLAM for Kilometer-Scale Outdoor Scenes, ECCV, 2026. [Paper] [Code] [Website]
F2SLAM: Turning Feed-Forward Geometry into Persistent Factors for SLAM, arXiv 2026. [Paper]
All-St3R SLAM: Real-time RGB Dynamic SLAM with Pixel-wise Motion Masking, IROS, 2026. [Paper] [Website]
FoundationVIO: Enforcing Metric Scale in Feed-forward Visual-Inertial Odometry, arXiv 2026. [Paper] [Code]
UniGS-SLAM: Monocular Gaussian SLAM with Enhanced Geometry and Open-Vocabulary Semantics, arXiv 2026. [Paper] [Website]
Scale Anchoring via Implicit Semantics and Sequence-Consistent Loop Closure for VGGT-Based SLAM, arXiv 2026. [Paper] [Code]

Calibration

Calib3R: A 3D Foundation Model for Multi-Camera to Robot Calibration and 3D Metric-Scaled Scene Reconstruction, arXiv 2025. [Paper]

Loop Closure Detection & Place Recognition

Multi-modal Loop Closure Detection with Foundation Models in Severely Unstructured Environments, arXiv 2025. [Paper]
VGGT-MPR: VGGT-Enhanced Multimodal Place Recognition in Autonomous Driving Environments, arXiv 2026. [Paper]
UniPR-3D: Towards Universal Visual Place Recognition with Visual Geometry Grounded Transformer, arXiv 2025. [Paper] [Code]
Reloc-VGGT: Visual Re-localization with Geometry Grounded Transformer, arXiv 2025. [Paper] [Code]

Downstream Tasks

SpatialLM: Training Large Language Models for Structured Indoor Modeling, NIPS 2025. [Paper] [Website] [Code]
SpatialAnt: Autonomous Zero-Shot Robot Navigation via Active Scene Reconstruction and Visual Anticipation, arXiv 2025. [Paper] [Website] [Code]
Drone-Based Indoor Mapping for Augmented Indoor 3D Modeling Using Neural Simultaneous Localization And Mapping (SLAM), * IEEE International Conference on Consumer Electronics (ICCE) 2026*. [Paper]

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All-3R-SLAM-in-this-Repo