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 SLAM (Mapping)

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Jenna's content is centered on role-playing as a dog, emphasizing submissiveness and "puppy-like" behaviors . The Woman who Acts like a Dog | Life as a Puppy Girl : She initially posted "vanilla" content for 18

: She charges a monthly subscription fee (around $20) and earns significant additional income—sometimes up to $1,200 per video—for custom content . The Woman who Acts like a Dog |

Jenna Phillips, known professionally as , built a high-earning career by monetizing a "puppy-play" persona on platforms like OnlyFans and TikTok. Originally an optician, she transitioned to full-time content creation after discovering a profitable niche in the pet-play subculture. Career & Financial Success

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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