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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S1 E10-mr Big.mp4 -: Google Drive

Late 90s NYC, cigarette smoke, and high-fashion heartbreak.

To create a post that drives engagement, I’ve broken this down into three styles. Pick the one that fits your platform best. 🎬 The "Binge-Watcher" (Best for Twitter/X or Threads) Can we talk about the Season 1 Finale? 🍷 The Hook: Mr. Big. The man, the myth, the massive headache.

How this finale set the stage for six seasons of "will-they-won't-they" chaos.

💡 If you are sharing the actual file link, ensure your Google Drive permissions are set to "Anyone with the link" so your followers don't get a "Request Access" error. To tailor this post further, let me know: The platform (Instagram, LinkedIn, personal blog)

Watching Carrie realize that Big might never be able to say "I love you" the way she needs to hear it.

(Start a debate, share a download, or just reminisce)

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

Late 90s NYC, cigarette smoke, and high-fashion heartbreak.

To create a post that drives engagement, I’ve broken this down into three styles. Pick the one that fits your platform best. 🎬 The "Binge-Watcher" (Best for Twitter/X or Threads) Can we talk about the Season 1 Finale? 🍷 The Hook: Mr. Big. The man, the myth, the massive headache. S1 E10-Mr Big.mp4 - Google Drive

How this finale set the stage for six seasons of "will-they-won't-they" chaos. Late 90s NYC, cigarette smoke, and high-fashion heartbreak

💡 If you are sharing the actual file link, ensure your Google Drive permissions are set to "Anyone with the link" so your followers don't get a "Request Access" error. To tailor this post further, let me know: The platform (Instagram, LinkedIn, personal blog) 🎬 The "Binge-Watcher" (Best for Twitter/X or Threads)

Watching Carrie realize that Big might never be able to say "I love you" the way she needs to hear it.

(Start a debate, share a download, or just reminisce)

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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