MCGS-SLAM

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

Anonymous Author
Code and data [Available Upon Acceptance]

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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2732x2732 Si11-soft-green-baby-gradation-blur-w... -

This guide covers the wallpaper, a popular minimalist background designed for high-resolution displays. Overview of the Asset

Long-press your home screen, select Wallpapers , and choose the image from your gallery. Most launchers will allow you to crop the square image to your screen's aspect ratio

The resolution is specifically tailored for square-cropped wallpaper support on devices with dynamic orientations:

You can find this specific image on various high-quality wallpaper platforms like iPhoneXpapers or iPhone6papers Setting as Wallpaper:

si11-soft-green-baby-gradation-blur-w.jpg (or similar)

A "soft green baby gradation," which typically features a light, pastel green color palette with a smooth, blurry gradient effect

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

This guide covers the wallpaper, a popular minimalist background designed for high-resolution displays. Overview of the Asset

Long-press your home screen, select Wallpapers , and choose the image from your gallery. Most launchers will allow you to crop the square image to your screen's aspect ratio 2732x2732 si11-soft-green-baby-gradation-blur-w...

The resolution is specifically tailored for square-cropped wallpaper support on devices with dynamic orientations: This guide covers the wallpaper, a popular minimalist

You can find this specific image on various high-quality wallpaper platforms like iPhoneXpapers or iPhone6papers Setting as Wallpaper: This guide covers the wallpaper

si11-soft-green-baby-gradation-blur-w.jpg (or similar)

A "soft green baby gradation," which typically features a light, pastel green color palette with a smooth, blurry gradient effect

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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