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.

Right Image

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.

Right Image

Nokia 5320 Rom Repack May 2026

A Nokia 5320 ROM repack can breathe new life into your older device, providing improved performance, new features, and bug fixes. However, it's essential to approach this process with caution, ensuring you have the necessary tools and knowledge to avoid potential risks. If you're not comfortable with the process, consider seeking guidance from experienced developers or online forums.

A ROM repack is a customized version of a device's firmware, which is created by modifying the original ROM (Read-Only Memory) image. This process involves extracting the original firmware, modifying it, and then repacking it into a new ROM image that can be flashed onto the device. In the case of the Nokia 5320, a ROM repack can provide a range of benefits, including improved performance, new features, and bug fixes. nokia 5320 rom repack

The Nokia 5320, released in 2007, was a popular mid-range smartphone that ran on the Symbian OS. Although it's an older device, many users still rely on it for its durability and simplicity. However, as with any older device, the software can become outdated, and users may experience performance issues. This is where a ROM repack comes in – a customized version of the original firmware that can breathe new life into your Nokia 5320. A Nokia 5320 ROM repack can breathe new

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.
Right Image

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.
Right Image

Right Image