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

Have you seen Season 1? What’s your favorite moment—the bike chase, the sensory deprivation tank, or ā€œMornings are for coffee and contemplationā€?

But if you’re looking for a way to watch Season 1, here’s everything you need to know—from the plot to legal streaming options. What Is Stranger Things Season 1 About? Logline: After the mysterious disappearance of a young boy, a small town uncovers a government conspiracy, a psychokinetic girl, and a terrifying monster from an alternate dimension called the ā€œUpside Down.ā€ stranger things free season 1

When the Duffer Brothers introduced the world to Hawkins, Indiana, in 2016, no one expected a nostalgic sci-fi/horror series to become a global phenomenon. Stranger Things Season 1 is the perfect storm of 1980s references, compelling child performances, and genuine mystery. Have you seen Season 1


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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