SuperPoint-SLAM3: Augmenting ORB-SLAM3 with Deep Features, Adaptive NMS, and Learning-Based Loop Closure
Abstract
Visual simultaneous localization and mapping (SLAM) must remain accurate under extreme viewpoint, scale and illumination variations. The widely adopted ORB-SLAM3 falters in these regimes because it relies on hand-crafted ORB keypoints. We introduce SuperPoint-SLAM3, a drop-in upgrade that (i) replaces ORB with the self-supervised SuperPoint detector--descriptor, (ii) enforces spatially uniform keypoints via adaptive non-maximal suppression (ANMS), and (iii) integrates a lightweight NetVLAD place-recognition head for learning-based loop closure. On the KITTI Odometry benchmark SuperPoint-SLAM3 reduces mean translational error from 4.15% to 0.34% and mean rotational error from 0.0027 deg/m to 0.0010 deg/m. On the EuRoC MAV dataset it roughly halves both errors across every sequence (e.g., V2\_03: 1.58% -> 0.79%). These gains confirm that fusing modern deep features with a learned loop-closure module markedly improves ORB-SLAM3 accuracy while preserving its real-time operation. Implementation, pretrained weights and reproducibility scripts are available at https://github.com/shahram95/SuperPointSLAM3.
Cite
@article{arxiv.2506.13089,
title = {SuperPoint-SLAM3: Augmenting ORB-SLAM3 with Deep Features, Adaptive NMS, and Learning-Based Loop Closure},
author = {Shahram Najam Syed and Ishir Roongta and Kavin Ravie and Gangadhar Nageswar},
journal= {arXiv preprint arXiv:2506.13089},
year = {2026}
}
Comments
10 pages, 6 figures, code at https://github.com/shahram95/SuperPointSLAM3