MCGS-SLAM

A Multi-Camera SLAM Framework Using Gaussian Splatting for High-Fidelity Mapping

Anonymous Author

SLAM System Pipeline

Our method performs real-time SLAM by fusing synchronized inputs from a multi-camera rig into a unified 3D Gaussian map. It first selects keyframes and estimates depth and normal maps for each camera, then jointly optimizes poses and depths via multi-camera bundle adjustment and scale-consistent depth alignment. Refined keyframes are fused into a dense Gaussian map using differentiable rasterization, interleaved with densification and pruning. An optional offline stage further refines camera trajectories and map quality. The system supports RGB inputs, enabling accurate tracking and photorealistic reconstruction.

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Female Hanging Dolcett Work -

: The original art often uses vivid imagery to juxtapose disturbing themes with exaggerated, often hyper-feminine, fantasy figures. Common Scenarios

A suspenseful thriller where a protagonist must escape an elaborate, Victorian-style dungeon.

: Continuous communication during the scene is crucial. Participants should feel free to stop the activity at any time using a pre-agreed safe word.


Analysis of Single-Camera and Multi-Camera SLAM (Mapping)

: The original art often uses vivid imagery to juxtapose disturbing themes with exaggerated, often hyper-feminine, fantasy figures. Common Scenarios

A suspenseful thriller where a protagonist must escape an elaborate, Victorian-style dungeon.

: Continuous communication during the scene is crucial. Participants should feel free to stop the activity at any time using a pre-agreed safe word.


Analysis of Single-Camera and Multi-Camera SLAM (Tracking)

In this section, we benchmark tracking accuracy across eight driving sequences from the Waymo dataset (Real World). MCGS-SLAM achieves the lowest average ATE, significantly outperforming single-camera methods.
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We further evaluate tracking on four sequences from the Oxford Spires dataset (Real World). MCGS-SLAM consistently yields the best performance, demonstrating robust trajectory estimation in large-scale outdoor environments.
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