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.
: Many families begin by lighting an oil or ghee lamp ( Diya ) at a small home altar to invite positive energy. The Kitchen Hub
: Breakfast and lunch preparations happen simultaneously. In many homes, mothers or grandmothers might be found soaking beans for or kneading dough for fresh while packing tiffin boxes for school and work.
: The morning revolves around the kitchen, where a fresh pot of is almost always the first priority.
: Many families begin by lighting an oil or ghee lamp ( Diya ) at a small home altar to invite positive energy. The Kitchen Hub
: Breakfast and lunch preparations happen simultaneously. In many homes, mothers or grandmothers might be found soaking beans for or kneading dough for fresh while packing tiffin boxes for school and work.
: The morning revolves around the kitchen, where a fresh pot of is almost always the first priority.
