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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To - Tamilian

: Many identify as "Tamilian first," viewing their cultural and linguistic roots as an identity that remains constant across centuries of political shifts.

The Tamil script is an abugida, consisting of 247 characters in total.

தலைப்பு: கல்வியின் முக்கியத்துவம் (The Importance of Education) முன்னுரை: tamilian to

: Watch Tamil cinema (Kollywood) on platforms like Netflix or Amazon Prime with English subtitles enabled. This introduces you to everyday slang, conversational pacing, and cultural humor.

This diaspora Tamilian is hyper-conscious of heritage. He preserves a more archaic form of Tamil than his Indian counterpart. He funds temple renovations in Jaffna while pioneering hip-hop beats in France. The transition has created a transnational Tamil nationalism that is not about territory (since the dream of Eelam failed militarily) but about cultural memory and political advocacy. : Many identify as "Tamilian first," viewing their

Tamil kingdoms (Chola, Pandya, Chera) were maritime powers, facilitating trade with Southeast Asia (Indonesia, Malaysia, Thailand), fostering cultural exchanges that exist to this day. Colonial Era and Beyond

To be a Tamilian is not merely to be born in the fertile lands between the Western Ghats and the Bay of Bengal. It is to inherit one of the world’s oldest living classical languages — Tamil — whose recorded literature spans over two millennia. It is to carry within you the echoes of Sangam poetry, the valor of the Chera, Chola, and Pandya dynasties, and the resilience of a people who have weathered invasions, colonialism, and modernity without losing their core identity. He funds temple renovations in Jaffna while pioneering

To truly connect with a Tamilian, you must understand their deep-rooted pride in their heritage.

: Pulikachal , a flavorful tamarind paste, is a staple in most kitchens, used to whip up instant tamarind rice for busy days or long travels.

While Tamil is the regional language of Tamil Nadu, migrating Tamilians have shown high adaptability. In South Indian states like Karnataka and Kerala, English and Tamil often suffice for daily life, allowing the community to thrive even without knowing Hindi.

Who is the (e.g., students, a cultural blog, or a formal speech)?

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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