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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Foto Abuya Cidahu -

Because Abuya Dimyati was known for his extreme humility ( tawadhu ) and frequently declined to be photographed or publicized, authentic images of him are highly valued by his followers and the local community. Significance and "Reviews" of These Photos

"Foto Abuya Cidahu" refers to photographs of (1920–2003), a revered charismatic cleric and the founder of the Pondok Pesantren Cidahu in Pandeglang, Banten.

: Abuya Dimyati famously avoided the limelight, even refusing large donations from high-ranking officials like the Suharto family to maintain his independence and focus on teaching. Photos that do exist are often candid or taken by those close to him.

: Accounts managed by his descendants, such as Abuya Muhtadi or Abuya Murtadho, occasionally share historical photos.

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

Because Abuya Dimyati was known for his extreme humility ( tawadhu ) and frequently declined to be photographed or publicized, authentic images of him are highly valued by his followers and the local community. Significance and "Reviews" of These Photos

"Foto Abuya Cidahu" refers to photographs of (1920–2003), a revered charismatic cleric and the founder of the Pondok Pesantren Cidahu in Pandeglang, Banten. foto abuya cidahu

: Abuya Dimyati famously avoided the limelight, even refusing large donations from high-ranking officials like the Suharto family to maintain his independence and focus on teaching. Photos that do exist are often candid or taken by those close to him. Because Abuya Dimyati was known for his extreme

: Accounts managed by his descendants, such as Abuya Muhtadi or Abuya Murtadho, occasionally share historical photos. occasionally share historical photos.

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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