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 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.

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Ifeelmyself Robyn Seizure Better Apr 2026

Released in 2010, "If I Feel Myself" is a song by Swedish singer-songwriter Robyn. On the surface, the song appears to be an upbeat, dance-pop track with a catchy chorus. However, upon closer inspection, the lyrics reveal a more nuanced exploration of self-discovery, intimacy, and emotional vulnerability.

When examining both songs together, some interesting connections emerge. Both "If I Feel Myself" and "Seizure" deal with themes of emotional awareness, vulnerability, and the complexities of human experience. ifeelmyself robyn seizure better

The intersection of these two songs can also be seen through the lens of mental health. Both songs touch on the idea of being consumed by one's emotions, but they approach it from different angles. Released in 2010, "If I Feel Myself" is

Through this analysis, we can see that both Robyn and Better are tackling essential questions about the human experience: How do we navigate our emotions? How do we develop self-awareness? And how do we cope with the overwhelming power of our feelings? Both songs touch on the idea of being

The connections between these songs serve as a reminder that art and music can be powerful tools for exploring and understanding our emotional lives. By engaging with these creative works, we can gain a deeper appreciation for the complexities of human experience and the importance of emotional awareness.

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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