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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Fг©- Broto Dos Brotos: Fly Com

is a Brazilian musical project involving artists like Fly Com Fé , Traypo Estrela, and Tennaz. It is primarily characterized by its presence in the urban music scene, often categorized under independent or experimental rap/hip-hop influences. Project Overview

: Typically released as digital singles or short-form albums (EPs).

The project has gained visibility through digital platforms, notably on the Broto dos Brotos - Topic YouTube channel , where it is presented as a cohesive musical release or album. Core Attributes : Fly Com Fé, Traypo Estrela, and Tennaz.

: The tracks often blend contemporary urban beats with lyrical themes common in Brazilian grassroots music.

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

is a Brazilian musical project involving artists like Fly Com Fé , Traypo Estrela, and Tennaz. It is primarily characterized by its presence in the urban music scene, often categorized under independent or experimental rap/hip-hop influences. Project Overview

: Typically released as digital singles or short-form albums (EPs). Fly Com FГ©- Broto Dos Brotos

The project has gained visibility through digital platforms, notably on the Broto dos Brotos - Topic YouTube channel , where it is presented as a cohesive musical release or album. Core Attributes : Fly Com Fé, Traypo Estrela, and Tennaz. is a Brazilian musical project involving artists like

: The tracks often blend contemporary urban beats with lyrical themes common in Brazilian grassroots music. Fly Com FГ©- Broto Dos Brotos

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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