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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Ojaga Satra Thu Nabagi Wari 40 Apr 2026

Ojaga Satra Thu Nabagi Wari 40 is a 40-day festival that begins on the 11th day of the Manipuri month of Wakening (equivalent to mid-April) and ends on the 10th day of the month of Thangjing (equivalent to mid-May). The festival is dedicated to the worship of Lord Krishna and is celebrated to commemorate the 40-day period of spiritual retreat and penance undertaken by the great saint, Chaitanya Mahaprabhu.

Preparations for the festival begin well in advance, with devotees cleaning and decorating their homes, temples, and community centers. The rituals and practices associated with the festival can be broadly categorized into three phases: Ojaga Satra Thu Nabagi Wari 40

The Ojaga Satra Thu Nabagi Wari 40 festival is a significant event in Manipuri culture, promoting spiritual growth, community bonding, and cultural preservation. Through this guide, we hope to have provided a comprehensive overview of the festival, its significance, and the rituals and practices associated with it. May this guide inspire you to participate in and appreciate the beauty of this wonderful festival! Ojaga Satra Thu Nabagi Wari 40 is a

Ojaga Satra Thu Nabagi Wari 40 is a spiritual and cultural festival celebrated by the Meitei people of Manipur, India. The festival is a significant part of Manipuri culture and is observed with great enthusiasm and fervor. In this guide, we will delve into the details of the festival, its significance, and the rituals and practices associated with it. The rituals and practices associated with the festival

The Ojaga Satra Thu Nabagi Wari 40 festival holds great significance in Manipuri culture. It is believed that during this period, Lord Krishna manifests himself in the form of a divine child, and devotees worship him with great devotion. The festival is also associated with the arrival of spring and the blossoming of flowers, symbolizing the victory of good over evil.

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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