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

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Call of Duty is one of the most popular first-person shooter games in the world, with a massive following across various platforms. The game is known for its intense multiplayer action, engaging storyline, and realistic graphics. If you’re a PC gamer looking to download Call of Duty for free, you’ve come to the right place. In this article, we’ll guide you through the process of downloading Call of Duty for free on PC Windows 10 using a zip file.

Downloading Call of Duty for free on PC Windows 10 using a zip file is a straightforward process. Make sure to follow the steps outlined in this article, and you’ll be playing Call of Duty in no time. Remember to always download games from reputable websites, and be cautious of any websites that ask for personal information or payment.

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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