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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Noelle Johnson - Always Remember Us This Way -

: The song trended heavily on Instagram Reels , introducing her emotive style to a global audience.

Noelle Johnson's rendition of is her most successful track, amassing over 77 million views on YouTube and millions of streams on Spotify . Originally written by Lady Gaga for the 2018 film A Star Is Born , Johnson's version transformed from a simple cover into a viral sensation that helped her reach over 1 million monthly listeners . Why It Stands Out

: Listeners often praise the "soulful" and "heartfelt" quality of her vocals, which strip back the original's power-ballad style for a more intimate experience. About the Artist

: Her version leans into her Pacific Northwest roots, blending a nostalgic, indie-pop feel with her background in banjo and piano.

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

: The song trended heavily on Instagram Reels , introducing her emotive style to a global audience.

Noelle Johnson's rendition of is her most successful track, amassing over 77 million views on YouTube and millions of streams on Spotify . Originally written by Lady Gaga for the 2018 film A Star Is Born , Johnson's version transformed from a simple cover into a viral sensation that helped her reach over 1 million monthly listeners . Why It Stands Out Noelle Johnson - Always Remember Us This Way

: Listeners often praise the "soulful" and "heartfelt" quality of her vocals, which strip back the original's power-ballad style for a more intimate experience. About the Artist : The song trended heavily on Instagram Reels

: Her version leans into her Pacific Northwest roots, blending a nostalgic, indie-pop feel with her background in banjo and piano. Why It Stands Out : Listeners often praise

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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