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.

Right Image

Analysis of Single-Camera and Multi-Camera System

This experiment on the Waymo Open Dataset (Real World) demonstrates the effectiveness of our Multi-Camera Gaussian Splatting SLAM system. We evaluate the 3D mapping performance using three individual cameras, Front, Front-Left, and Front-Right, and compare these single-camera reconstructions against the Multi-Camera SLAM results.

The comparison highlights that the Multi-Camera SLAM leverages complementary viewpoints, providing more complete and geometrically consistent 3D reconstructions. In contrast, single-camera setups are prone to occlusions and limited fields of view, resulting in incomplete or distorted geometry. Our approach effectively fuses information from all three perspectives, achieving superior scene coverage and depth accuracy. femjoycom new

Right Image

Femjoycom New Jun 2026

One sunny afternoon, while exploring a lesser-known section of the garden, Lena stumbled upon a hidden path she had never seen before. The air was filled with the sweet scent of blooming flowers, and the soft chirping of birds. She felt an overwhelming sense of excitement and curiosity.

Photography isn't just about the subject; it's about the creative vision. Recent innovations include:

: Interact with your audience in a respectful and positive manner. Encourage constructive feedback and be open to criticism.

Explore a breathtaking new set of high-definition galleries and cinematic clips filmed in the softest morning light.

: Many shoots are part of a narrative series. You can follow a specific story across multiple galleries.

A focus on natural lighting and minimal post-production retouching to preserve the genuine texture and character of the subjects.

FemJoy has expanded its library beyond traditional softcore photography to include diverse artistic formats:

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.
Right Image

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.
Right Image

Right Image