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A challenge is how to explore the navigation quickly and effectively. An end-to-end learning approach has been proposed to extract geometric shapes from RGB images, but it is not suitable for large environments due to its exhaustive exploration with exponential search space. Active Neural SLAM (ANS) presents a Neural SLAM module to maximize the exploration coverage to tackle the active SLAM task. However, ANS still frequently visits the explored areas due to the inappropriate local target selection. In this paper, we propose a Neural Attention-based Visual SLAM (NAVS) model to explore unknown 3D environments. Spatial attention is provided to quickly identify obstacles (such as similarly colored tea table or floor). We also leverage the priority of unknown regions in the short-term goal decision to avoid frequent exploration with a channel attention. The experimental results show that our model can build a more accurate map than ANS and other baseline methods with less running time. In terms of relative coverage, NAVS achieves a 0.5\n                    <jats:inline-formula>\n                      <jats:alternatives>\n                        <jats:tex-math>$$\\%$$<\/jats:tex-math>\n                        <mml:math xmlns:mml=\"http:\/\/www.w3.org\/1998\/Math\/MathML\">\n                          <mml:mo>%<\/mml:mo>\n                        <\/mml:math>\n                      <\/jats:alternatives>\n                    <\/jats:inline-formula>\n                    improvement over ANS in overall and a 1.1\n                    <jats:inline-formula>\n                      <jats:alternatives>\n                        <jats:tex-math>$$\\%$$<\/jats:tex-math>\n                        <mml:math xmlns:mml=\"http:\/\/www.w3.org\/1998\/Math\/MathML\">\n                          <mml:mo>%<\/mml:mo>\n                        <\/mml:math>\n                      <\/jats:alternatives>\n                    <\/jats:inline-formula>\n                    improvement over ANS in large environments.\n                  <\/jats:p>","DOI":"10.1007\/s11063-024-11502-6","type":"journal-article","created":{"date-parts":[[2024,2,21]],"date-time":"2024-02-21T11:02:20Z","timestamp":1708513340000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":6,"title":["NAVS: A Neural Attention-Based Visual SLAM for Autonomous Navigation in Unknown 3D Environments"],"prefix":"10.1007","volume":"56","author":[{"given":"Yu","family":"Wu","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Niansheng","family":"Chen","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Guangyu","family":"Fan","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Dingyu","family":"Yang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Lei","family":"Rao","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Songlin","family":"Cheng","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xiaoyong","family":"Song","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yiping","family":"Ma","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2024,2,21]]},"reference":[{"key":"11502_CR1","unstructured":"Khan A, Zhang C (2017) End-to-end navigation in unknown environments using neural networks. arXiv preprint arXiv:1707.07385"},{"key":"11502_CR2","unstructured":"Savinov N, Dosovitskiy A, Koltun V (2018) Semi-parametric topological memory for navigation. arXiv preprint arXiv:1803.00653"},{"key":"11502_CR3","unstructured":"Chen T, Gupta S, Gupta A (2019) Learning exploration policies for navigation. arXiv preprint arXiv:1903.01959"},{"key":"11502_CR4","doi-asserted-by":"crossref","unstructured":"Gupta S, Davidson J, Levine S, Sukthankar R, Malik J (2017) Cognitive mapping and planning for visual navigation. 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