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. Mafalda 1

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Mafalda 1 -

: Define Mafalda as a cultural icon and specify that Volume 1 serves as the foundational introduction to her world.

: Discuss how Quino used a child character to critique adult failures in politics and social equity during the 1960s.

: Created in 1964 for the magazine Primera Plana , the strip quickly became a worldwide phenomenon [5.1, 5.9].

: Historically, Mafalda has been viewed as the "voice of vast segments of society's middle sectors" [5.3]. Volume 1 portrays her middle-class family navigating the social and economic dilemmas of 1960s Argentina [5.4, 5.9].

: While firmly rooted in Argentine culture, the humor is often universal, dealing with existential dread and the absurdity of adult logic [7].

: Mafalda is defined by her "innocent but serious" attitude toward massive global problems [11]. Volume 1 establishes her habit of listening to the world with a stethoscope and "bandaging" her globe when she feels the world is unwell [7].

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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