Loopy-SLAM is a dense RGBD SLAM system that leverages neural point cloud representations for local mapping and tracking, and a pose graph for global optimization. The method dynamically creates submaps based on camera motion, and uses global place recognition to detect loop closures online. Robust pose graph optimization is employed to align the trajectory and submaps, achieving globally consistent maps and accurate trajectory estimation. The approach avoids the need to store the entire history of input frames, making it more efficient and scalable compared to methods using grid-based mapping structures. Evaluations on synthetic Replica and real-world TUM-RGBD and Scan-Net datasets demonstrate competitive or superior performance in tracking, mapping, and rendering accuracy compared to existing dense neural RGBD SLAM methods. Key contributions include a direct implementation of loop closure without gradient updates, efficient feature fusion in overlapping regions, and robust pose graph optimization for global alignment.Loopy-SLAM is a dense RGBD SLAM system that leverages neural point cloud representations for local mapping and tracking, and a pose graph for global optimization. The method dynamically creates submaps based on camera motion, and uses global place recognition to detect loop closures online. Robust pose graph optimization is employed to align the trajectory and submaps, achieving globally consistent maps and accurate trajectory estimation. The approach avoids the need to store the entire history of input frames, making it more efficient and scalable compared to methods using grid-based mapping structures. Evaluations on synthetic Replica and real-world TUM-RGBD and Scan-Net datasets demonstrate competitive or superior performance in tracking, mapping, and rendering accuracy compared to existing dense neural RGBD SLAM methods. Key contributions include a direct implementation of loop closure without gradient updates, efficient feature fusion in overlapping regions, and robust pose graph optimization for global alignment.