SuperPoint-SLAM3: Augmenting ORB-SLAM3 with Deep Features, Adaptive NMS, and Learning-Based Loop Closure

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 atthis https URL.

@article{syed2025_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={ 2025 }
}