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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Smokemaster_smokemaster_full_album_2020 | Premium Quality |

It was mastered by the sound engineer Eroc (former drummer of the krautrock band Grobschnitt), who is noted for giving the album its "brilliance and power".

The album is described as a blend of , krautrock , and stoner rock , with influences ranging from The Doors and Pink Floyd to Colour Haze . It features a mix of slow, spherical instrumental parts and blues-rock sections showcasing singer Björnson Bear's warm vocals. smokemaster_smokemaster_full_album_2020

All songs were written by the members of Smokemaster . Label: Released via Tonzonen Records . Album Characteristics It was mastered by the sound engineer Eroc

The self-titled debut album , released in 2020 by the German psychedelic rock band Smokemaster , features the following tracklist and production credits: Solar Flares (07:28) Trippin' Blues (04:24) Ear of the Universe (10:24) Sunrise in the Canyon (04:11) Astronaut of Love (07:03) Astral Traveller (08:41) Production & Personnel All songs were written by the members of Smokemaster

The album was recorded and produced by Lukas Bönschen .

The album is available for purchase and streaming on platforms like Bandcamp , Discogs , and Deezer .

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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