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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Mr. & Mrs. Smith Subtitles English Official

: Prime Video provides built-in English (CC) subtitles for all eight episodes. Because it is a global release, you can typically toggle these on or off within the player settings under the "Subtitles" or "Audio" icon. 2. 2005 Movie (Theatrical Release)

To find English subtitles for " Mr. & Mrs. Smith ," you first need to identify which version you are looking for, as there are two distinct major productions with this title. Mr. & Mrs. Smith subtitles English

: The series is an Amazon Original and is available exclusively to stream on Amazon Prime Video. : Prime Video provides built-in English (CC) subtitles

: Click or tap the Speech Bubble or CC icon (usually located in the top or bottom right corner of the screen). 2005 Movie (Theatrical Release) To find English subtitles

: You can find this version with English subtitles on platforms like Hulu, Amazon Prime Video (for rent or purchase), and Disney+ in certain regions.

: Launch the movie or series on your preferred platform.

: Most major digital storefronts (Apple TV, Google Play) include English subtitles as a standard feature with the purchase or rental of the digital file. How to Enable Subtitles

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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