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arXiv · 2608.09146

Multi-Submap Implicit Neural SLAM with Local-to-Global Loop Closure for Large-Scale Scene Reconstruction

Tianchen Deng·Chongdi Wang·Nailin Wang·Lei Zhao·Ziqi Ma·Tianjun Zhang·Zhe Liu·Danwei Wang·Hesheng Wang
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Abstract

Neural Radiance Fields (NeRF)-based SLAM has demonstrated impressive results in small-scale scene reconstruction, yet scaling these methods to extensive, complex environments remains challenging due to catastrophic forgetting and accumulated trajectory drift. This paper presents a robust, large-scale neural SLAM system featuring a multi-submap architecture and a dual-tier loop closure mechanism. Specifically, we propose a progressive mapping strategy that dynamically allocates neural submaps to maintain high-fidelity representations without memory explosion. For robust pose estimation, an optical-flow-based tracking module is integrated to handle aggressive motions. To address global consistency, we introduce a local-to-global loop closure framework leveraging the foundation model for high-performance global descriptor extraction, significantly enhancing relocalization accuracy under varying viewpoints. Furthermore, an inter-submap online distillation algorithm is designed during back-end optimization to enforce geometric and appearance consistency across overlapping submap boundaries. To validate the system, we developed a customized handheld mechatronic platform and conducted extensive evaluations on both public benchmarks and our large-scale indoor-outdoor datasets. Experimental results, including direct deployment on an onboard computing unit, demonstrate that our approach outperforms state-of-the-art neural SLAM methods in reconstruction quality and localization robustness, providing a scalable solution for real-world robotic perception and digital twinning. We will release the code publicly on \href{https://github.com/dtc111111/MSN-SLAM}{https://github.com/dtc111111/MSN-SLAM} .

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Tianchen Deng, Chongdi Wang, Nailin Wang, Lei Zhao, Ziqi Ma, Tianjun Zhang, Zhe Liu, Danwei Wang, Hesheng Wang. 2026-08-10. Multi-Submap Implicit Neural SLAM with Local-to-Global Loop Closure for Large-Scale Scene Reconstruction. https://arxiv.org/abs/2608.09146

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